Motor controller CMMP-AS--M3 · 2020. 3. 17. · cmmp-as-c5-11a-p3-m3 3 16 b16...
Transcript of Motor controller CMMP-AS--M3 · 2020. 3. 17. · cmmp-as-c5-11a-p3-m3 3 16 b16...
Description
Mounting and
installation
for motor controller
CMMP-AS-...-M3
760322
1203NH
Motor controller
CMMP-AS-...-M3
CMMP-AS-...-M3
2 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Translation of the original instructions
GDCP-CMMP-M3-HW-EN
CANopen®, Heidenhain®, EnDat®, PHOENIX® are registered trademarks of the respective trademark
owners in certain countries.
Identification of hazards and instructions on how to prevent them:
Danger
Immediate dangers which can lead to death or serious injuries.
Warning
Hazards that can cause death or serious injury.
Caution
Hazards that can cause minor injury or serious property damage.
Other symbols:
Note
Property damage or loss of functionality.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
Information on environmentally sound usage.
Text designations:
• Activities that may be carried out in any order.
1. Activities that may be carried out in the order stated.
– General lists.
CMMP-AS-...-M3
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 3
Table of contents – CMMP-AS-...-M3
1 Safety and requirements for product use 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Safety 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Safety instructions for commissioning, repair and de-commissioning 8. . . . . . . . . . .
1.1.2 Protection against electric shock through protective extra-low voltage (PELV) 9. . . .
1.1.3 Intended use 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Requirements for product use 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Technical requirements 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.2 Qualification of the specialists (requirements for the personnel) 10. . . . . . . . . . . . . .
1.2.3 Range of application and certifications 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.4 Repair and waste management 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Product overview 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 The entire system for the CMMP-AS-...-M3 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Scope of delivery 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Device view 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Mains fuse 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Mechanical installation 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Important instructions 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Mounting 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Module in slot Ext3 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Interface in slot Ext1 or Ext2 (optional) 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.3 Motor controller 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Electrical installation 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Allocation of the plug connectors 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Connection: I/O communication [X1] 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Plug [X1]: 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 Pin assignments [X1] 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Connection: resolver [X2A] 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1 Plug [X2A] 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Pin assignment [X2A] 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Connection: encoder [X2B] 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Plug [X2B] 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Pin assignment [X2B] 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 Connection: CAN bus [X4] 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Plug [X4] 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2 Pin assignment [X4] 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMP-AS-...-M3
4 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4.6 Connection: motor [X6] 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.1 Plug [X6] 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.2 Pin assignment [X6] 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7 Connection: voltage supply [X9] 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.1 Plug 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.2 Pin allocation [X9] – 1-phase 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.3 Pin allocation [X9] – 3-phase 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.4 AC supply 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.5 Braking resistor 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8 Connection: incremental encoder input [X10] 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.1 Plug [X10] 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.2 Pin assignment [X10] 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.3 Type and design of the cable [X10] 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.4 Connection instructions [X10] 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9 Connection: incremental encoder output [X11] 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.1 Plug [X11] 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.2 Pin assignment [X11] 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10 Instructions on safe and EMC-compliant installation 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.1 Explanations and terms 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.2General remarks on EMC 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.3 EMC areas: first and second environment 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.4 EMC-compliant wiring 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.5Operation with long motor cables 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.6 ESD protection 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Commissioning 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 General connection instructions 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 FCT interfaces 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Overview of interfaces 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 USB [X19] 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Ethernet TCP/IP [X18] 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Tool / material 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Connecting the motor 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Connect motor controller CMMP-AS-...-M3 to the power supply 48. . . . . . . . . . . . . . . . . . . . .
5.6 Connect the PC 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7 Check operating status 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMP-AS-...-M3
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 5
6 Service functions and diagnostic messages 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Protective and service functions 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.1 Overview 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.2 Phases and mains failure detection 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.3 Overload current and short-circuit monitoring 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.4 Overvoltage monitoring for the intermediate circuit 50. . . . . . . . . . . . . . . . . . . . . . . . .
6.1.5 Temperature monitoring for the heat sink 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.6 Monitoring of the motor 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.7 I2t monitoring 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.8 Power monitoring for the brake chopper 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.9 Commissioning status 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.10 Rapid discharge of the intermediate circuit 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Operating mode and diagnostic messages 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Operation and display components 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 Seven-segment display 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.3 Acknowledgement of error messages 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.4 Diagnostic messages 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A Technical appendix 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical data CMMP-AS-...-M3 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.1 Interfaces 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Technical data CAMC-… 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3 Supported encoders 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4 Components of the USB driver 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B Diagnostic messages 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMP-AS-...-M3
6 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Product identification, versions
This description refers to the following versions:
– Motor controller from Rev. 01
– FCT plug-in CMMP-AS from Version 2.0.x.
Rating plate (example) Significance
CMMP-AS-C2-3A-M3
1501325 XXRev XX
In: 1*(100…230)V AC±10%
(50…60)Hz 3A
Out:3*(0…270)V AC
(0…1000)Hz 2.5A
Max surround air temp 40°C
IND. CONT. EQ.
1UD1
Type designation CMMP-AS-C2-3A-M3
Part number 1501325
Serial number XX
Revision Rev XX
Input data 100 … 230 V AC ±10%
50 … 60 Hz 3A
Output data 0 … 270 V AC
0 … 1000 Hz 2.5 A
Max. ambient temperature 40 °C
Tab. 1 Rating plate CMMP-AS-C2-3A-M3
Service
Please consult your regional Festo contact if you have any technical problems.
CMMP-AS-...-M3
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 7
Documentation
You will find additional information on the motor controller in the following documentation:
User documentation on the motor controller CMMP-AS-...-M3
Name, type Contents
Hardware description,
GDCP-CMMP-M3-HW-...
Mounting and installation for all variants/power classes
(1-phase, 3-phase), pin assignments, error messages,
maintenance.
Function descriptions,
GDCP-CMMP-M3-FW-...
Instructions on commissioning with FCT + functional description
(firmware). Overview of FHPP, fieldbus, safety engineering.
Description FHPP,
GDCP-CMMP-M3-C-HP-...
Control and parametrisation of the motor controller through the
Festo profile FHPP with the following fieldbusses: CANopen,
PROFIBUS, DeviceNet, EtherCAT.
Description CiA 402 (DS 402),
GDCP-CMMP-M3-C-CO-...
Control and parametrisation of the motor controller through the
device profile CiA 402 (DS402) with the following fieldbusses:
CANopen and EtherCAT.
Description CAM-Editor,
P.BE-CMMP-CAM-SW-...
Cam disc function (CAM) of the motor controller.
Description safety module,
GDCP-CAMC-G-S1-...
Functional safety engineering for the motor controller with the
safety function STO.
Help for the CMMP-AS plug-in User interface and functions of the CMMP-AS plug-in for the
Festo Configuration Tool.
www.festo.com
Tab. 2 Documentation on the motor controller CMMP-AS-...-M3
1 Safety and requirements for product use
8 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
1 Safety and requirements for product use
1.1 Safety
1.1.1 Safety instructions for commissioning, repair and de-commissioning
Warning
Danger of electric shock.
– Whenmodules or cover plates are not mounted on the slots Ext1 … Ext3.
– When cables are not mounted to the plugs [X6] and [X9].
– When connecting cables are disconnected when powered.
Touching live parts causes severe injuries and can lead to death.
The product may only be operated in a built-in status and when all protective measures
have been initiated.
Before touching live parts during maintenance, repair and cleaning work and when there
have been long service interruptions:
1. Switch off power to the electrical equipment via the mains switch and secure it
against being switched on again.
2. After switch-off, wait at least 5 minutes discharge time and check that power is
turned off before accessing the controller.
The safety functions do not protect against electric shock but only against dangerous
movements!
Note
Danger from unexpected movement of the motor or axis.
– Make sure that the movement does not endanger any people.
– Perform a risk assessment in accordance with the EC machinery directive.
– Based on this risk evaluation, design the safety system for the entire machine, tak-
ing into account all integrated components. This also includes the electric drives.
– Bypassing safety equipment is impermissible.
1 Safety and requirements for product use
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 9
1.1.2 Protection against electric shock through protective extra-low voltage (PELV)
Warning
• Use for the electrical power supply only PELV circuits in accordance with
IEC DIN EN 60204-1 (Protective Extra-Low Voltage, PELV).
Also comply with the general requirements for PELV circuits laid down in
IEC/DIN EN 60204-1.
• Use only power sources which guarantee reliable electrical disconnection of the
operating voltage as per IEC/DIN EN 60204-1.
Protection against electric shock (protection against direct and indirect contact) is guaranteed in ac-
cordance with IEC/DIN EN 60204-1 through the use of PELV circuits (Electrical equipment of machines,
general requirements).
1.1.3 Intended use
The CMMP-AS-...-M3. is intended for ...
– Use in control cabinets for power supply to AC servo motors and their regulation of torques (cur-
rent), rotational speed and position.
The CMMP-AS-...-M3. is intended for installation in machines or automated systems and may be used
only in the following ways:
– in excellent technical condition,
– in original status without unauthorised modifications,
– within the limits of the product defined by the technical data ( appendix A Technical appendix),
– in an industrial environment.
Note
In the event of damage caused by unauthorised manipulation or other than intended
use, the guarantee is invalidated and the manufacturer is not liable for damages.
1 Safety and requirements for product use
10 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
1.2 Requirements for product use
• Make this documentation available to the design engineer, installer and personnel responsible for
commissioning the machine or system in which this product is used.
• Make sure that the specifications of the documentation are always complied with. Also consider the
documentation for the other components and modules.
• Take into consideration the legal regulations applicable for the destination, as well as:
– regulations and standards,
– regulations of the testing organizations and insurers,
– national specifications.
1.2.1 Technical requirements
General conditions for the correct and safe use of the product, which must be observed at all times:
• Comply with the connection and environmental conditions specified in the technical data of the
product ( appendix A) and of all connected components.
Only compliance with the limit values or load limits permits operation of the product in accordance
with the relevant safety regulations.
• Observe the instructions and warnings in this documentation.
1.2.2 Qualification of the specialists (requirements for the personnel)
The product may only be placed in operation by a qualified electrotechnician who is familiar with:
– the installation and operation of electrical control systems,
– the applicable regulations for operation of safety engineering systems,
– the applicable regulations on accident protection and industrial safety, and
– the documentation for the product.
1.2.3 Range of application and certifications
Standards and test values, which the product complies with and fulfils, can be found in the “Technical
data” section ( appendix A). The product-relevant EU directives can be found in the declaration of
conformity.
Certificates and the declaration of conformity for this product can be found at www.festo.-com.
1.2.4 Repair and waste management
Repair or maintenance of the motor controller is not permissible. If required, replace the
motor controller.
Observe the local regulations for the environmentally friendly disposal of electronic
components.
2 Product overview
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 11
2 Product overview
2.1 The entire system for the CMMP-AS-...-M3
A motor controller CMMP-AS-...-M3 entire system is shown in Fig. 2.1 page 12. For operation of
the motor controller, the following components are required:
– main power switch
– FI circuit breaker (RCD), all-current sensitive 300 mA
– automatic circuit breaker
– power supply 24 VDC
– motor controller CMMP-AS-...-M3
– motor with motor and encoder cables
A PC with USB or Ethernet connecting cable is required for parametrisation.
2 Product overview
12 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
1
2
3
4
5
6
7
1 Power switch
2 Fuse
3 Power pack for logic voltage
4 Optional: external braking resistor
5 Motor controller CMMP-AS-...-M3
6 PC
7 Motor (e.g. EMMS-AS with encoder)
Fig. 2.1 Complete structure CMMP-AS-...-M3 with motor and PC
2.2 Scope of delivery
The delivery includes:
Scope of delivery
Motor controller CMMP-AS-...-M3
Operator package CD
Brief description
Assortment of plugs NEKM-C-7
Tab. 2.1 Scope of delivery
2 Product overview
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 13
2.3 Device view
1
2
3
4
5
6
7
8
9
aJ
aA
aB
1 Slot for switch or safety module [Ext3]
2 Fieldbus settings [S1]
3 Slots for extension modules [Ext1/Ext2]
4 Activation of firmware download [S3]
5 SD-/MMC card slot [M1]
6 Activation of CANopen terminating
resistor [S2]
7 CANopen interface [X4]
8 Ethernet interface [X18]
9 USB interface [X19]
aJ 7-segment display
aA Reset pushbutton
aB LEDs
Fig. 2.2 Motor controller CMMP-AS-...-M3: front view
2 Product overview
14 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4
5
3
2
1
1 PE connection
2 Power supply [X9]
3 Incremental encoder output [X11]
4 Incremental encoder input [X10]
5 I/O communication [X1]
Fig. 2.3 Motor controller CMMP-AS-...-3A-M3: top view
2 Product overview
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 15
4
3
2
1
5
1 PE connection
2 Power supply [X9]
3 Incremental encoder output [X11]
4 Incremental encoder input [X10]
5 I/O communication [X1]
Fig. 2.4 Motor controller CMMP-AS-...-11A-P3-M3: top view
2 Product overview
16 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
12
3
4
1 Spring-loaded terminal connection for the
outer shield of the motor cable
2 Motor connection [X6]
3 Connection for the resolver [X2A]
4 Connection for the encoder [X2B]
Fig. 2.5 Motor controller CMMP-AS-...-M3: bottom view
2 Product overview
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 17
2.4 Mains fuse
In the mains power supply cable, an automatic circuit breaker 1) is installed for protection of the line:
Motor controller Phases Current Characteristic
CMMP-AS-C2-3A-M3 1 16 B16
CMMP-AS-C5-3A-M3 1 16 B16
CMMP-AS-C5-11A-P3-M3 3 16 B16
CMMP-AS-C10-11A-P3-M3 3 16 B16
1) The required fuse is dependent, among other things, on the cable cross section, ambient temperature and laying procedure.
Observe the following instructions!
Tab. 2.2 Required mains fuses
In designing the fuses, also observe the following standards:
• EN 60204-1 “Safety of machinery – Electrical equipment of machines – Part 1: General
requirements”
• Take into consideration the regulations applicable for the destination, as well as:
– regulations and standards,
– regulations of the testing organizations and insurers,
– national specifications.
3 Mechanical installation
18 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
3 Mechanical installation
3.1 Important instructions
Note
Proceed carefully when mounting. During mounting and subsequent operation of the
drive, ensure that that no metal shavings, metal dust or mounting parts (screws, nuts,
pieces of wire) fall into the motor controller.
Note
The motor controllers CMMP-AS-...-M3
• Use only as installed devices for control cabinet assembly.
• Mounting orientation with the power supply [X9] on top.
• Mount it with the clip on the mounting plate.
• Mounting clearance:
For sufficient ventilation, 100 mm of clearance to other sub-assemblies is required
above and below the device.
• An installation clearance of 150 mm underneath the device is recommended for
optimum wiring of the motor or encoder cable!
• The motor controllers of the CMMP-AS-...-M3 family are designed so that they can
be mounted on a heat-dissipating mounting plate if used as intended and installed
correctly. We wish to point out that excessive heating can lead to premature aging
and/or damage to the device. With high thermal stress on the motor controller
CMMP-AS-...-M3, a mounting distance ( Fig. 3.4) is recommended!
3 Mechanical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 19
3.2 Mounting
Observe the safety instructions chapter 1 during mounting and installation work.
Note
Damage to the interface or motor controller due to incorrect handling.
• Switch off the supply voltage before mounting and installation work. Switch on sup-
ply voltage only whenmounting and installation work are completely finished.
• Never unplug modules from the motor controller or plug them in when powered!
• Observe the handling specifications for electrostatically sensitive devices. Do not
touch the printed circuit board and the pins of the manifold rail in the motor control-
ler. Grip the interface only on the front panel or on the edge of the board.
3.2.1 Module in slot Ext3
The motor controllers CMMP-AS-...-M3 are supplied without a module in slot Ext3; the slot is covered
with foil.
To operate the motor controller, an appropriate module must be mounted in slot Ext3:
– Micro switch module CAMC-DS-M1 or
– Safety module CAMC-G-S...
Mount module
1. Remove foil on slot Ext3.
2. Insert micro switch module CAMC-DS-M1 or safety module
CAMC-G-S... into the empty slot Ext3 so that the printed
circuit board runs into the lateral guides of the slot.
3. Insert module; when you have reached the rear contact
strip within the motor controller, carefully press it into the
contact strip until it stops.
4. Then screw the module to the front side of the motor con-
troller housing with the two screws. Tightening torque:
approx. 0.35 Nm.
Fig. 3.1 Mounting / dismantling
3 Mechanical installation
20 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Remove module
1. Unscrew screws on the module.
2. Loosen the module some millimetres through slight levering on the front plate.
3. Pull module out of the slot.
DIP switches
The eight switches on the plug-in modules (Ext3) are designed as DIP switches.
The status of the DIP switches is read when the control voltage is switched on or upon RESET. The mo-
tor controller takes over changes to the switch setting in ongoing operation only at the next switch-on
or RESET.
The significance of the DIP switch setting depends on the control interface used.
DIP switches CANopen/DriveBus Profibus DeviceNet EtherCAT
Onboard CAMC-PB plugged in CAMC-DN plugged in CAMC-EC plugged in
1 NN bit 0 NN bit 0 NN bit 0 Not used
2 NN bit 1 NN bit 1 NN bit 1 Not used
3 NN bit 2 NN bit 2 NN bit 2 Not used
4 NN bit 3 NN bit 3 NN bit 3 Not used
5 NN bit 4 NN bit 4 NN bit 4 Not used
6 Bit rate NN bit 5 Bit rate Not used
7 Bit rate NN bit 6 Bit rate Not used
8 Activation of fieldbus
NN = node number
Tab. 3.1 Setting of bit rate and node number
DIP switches 1 Mbit/s1) 500 kbps 250 kBit/s 125 kBit/s
6 ON OFF ON OFF
7 ON ON OFF OFF
1) Only for CANopen/DriveBus; for DeviceNet, is limited to 500 kBit/s
Tab. 3.2 Setting of bit rate for CANopen and DeviceNet
DIP switch 8 Fieldbus
1 Always activated
0 Always off
Tab. 3.3 Activation of the fieldbus
With DIP switch 8, the fieldbus of the plugged-in interface CAMC-... is activated. If no
interface is plugged in, the CAN bus [X4] is activated.
3 Mechanical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 21
3.2.2 Interface in slot Ext1 or Ext2 (optional)
The motor controllers CMMP-AS-...-M3 are shipped without interfaces in the slots Ext1 and Ext2; the
slots are sealed with covers.
Through the interfaces, the motor controller can be extended by digital I/Os and/or fieldbus interfaces.
Tab. 3.4 shows the permissible slots for the interfaces.
Slot Interface
CAMC-F-PN CAMC-PB CAMC-F-EP CAMC-DN CAMC-EC CAMC-D-8E8A
Ext1 –1) –1) –1) x –1) x
Ext2 x x x –1) x x
1) In addition, CAMC-D-8E8A permissible
Tab. 3.4 Permissible slots Ext1 and Ext2 for the interfaces
Mount interface
1. Unscrew screw with spring washer1 on the cover of the
permissible slot.
2. Lever out and remove cover2 laterally with a small screw-
driver.
3. Guide interface3 into the empty slot so the printed circuit
board runs in the guides4 of the slot.
4. Insert interface; when you have reached the rear contact
strip within the motor controller, carefully press it into the
contact strip until it stops.
5. Then screw the interface to the front side of the motor
controller housing with the screw with spring washer1.
Tightening torque: approx. 0.35 Nm.
Dismantle interface
1. Unscrew screw with spring washer at the interface.
2. Loosen the interface some millimetres through slight lever-
ing on the front plate.
3. Pull interface out of the slot.
4. Mount other interface or cover.
1
2
3
41
Fig. 3.2 Mounting or dismantling
(example CAMC-PB)
3 Mechanical installation
22 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
3.2.3 Motor controller
At the motor, controller CMMP-AS-...-M3, there are mounting clips at the top and bottom of the device.
They are used to attach the motor controller vertically to a mounting plate. The clips are part of the
radiator profile, ensuring an optimal heat transfer to the mounting plate.
Please use size M5 screws to attach the motor controller CMMP-AS-...-M3.
Fig. 3.3 Motor controller CMMP-AS-...-M3: mounting plate
CMMP-AS-... H1 L1 L2 L3 L4 L5 L6 B1 B2 B3 D1 D2
-3A-M3 [mm] 207 281 248 227 202 12.5 10.5 66 61 30.7 10 5.5
-11A-P3-M3 [mm] 247 330 297 276 252 12.5 10.5 79 75 37.5 10 5.5
Tab. 3.5 Motor controller CMMP-AS-...-M3: dimensions table
3 Mechanical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 23
Fig. 3.4 Motor controller CMMP-AS-...-M3: Mounting distance and installation clearance
Motor controller L1 H11)
CMMP-AS-...-3A-M3 [mm] 71 100
CMMP-AS-...-11A-P3-M3 [mm] 85 100
1) An installation clearance of 150 mm underneath the device is recommended for optimum wiring of the motor or encoder cable!
Tab. 3.6 Motor controller CMMP-AS-...-M3: mounting distance and installation clearance
4 Electrical installation
24 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4 Electrical installation
4.1 Allocation of the plug connectors
The motor controller CMMP-AS-...-M3 is connected to the supply voltage, the motor, the external brak-
ing resistor and the holding brake in accordance with the following circuit diagrams.
0 V
ExternalBraking resistor
Alternative
24 V supply
Connection for the outsidescreening of the motor cable
Encoder/resolver
Angle encoder
PE
BR-CH
BR-INT
ZK+
ZK-
L
N
24V+
GND24V
L
N
U
V
W
PE
MT+
MT-
PE
BR+
BR-
E
M3~
T
Q1
X9
X6
X2A/X2B
1-phase100VAC … 230VAC +/- 10%
Internal
PE
+24 V
Encoder
/Resolver
Fig. 4.1 Connection 1-phase to the power supply voltage and the motor
4 Electrical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 25
L1
0 V
ExternalBraking resistor
Alternative
24 V supply
Connection for the outsidescreening of the motor cable
Angle encoder
PE
BR-CH
BR-INT
ZK+
ZK-
L
N
24V+
GND24V
L2
U
V
W
PE
MT+
MT-
PE
BR+
BR-
E
M3~
T
Q1
X9
X6
X2A/X2B
2-phase100VAC … 230VAC +/- 10%
Internal
PE
+24 V
Encoder/
Resolver
Fig. 4.2 Connection 2-phase to the power supply voltage and the motor
4 Electrical installation
26 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
+24 V
230 V AC -10%480 V AC +10%
ExternalBraking resistor
Internal
Alternative
Connection for the outside
screening of the motor cable
Angle encoder
BR-EXT
BR-CH
BR-INT
ZK+
ZK-
L1
L2
L3
PE
24V+
GND24V
L1
L2
L3
PE
U
V
W
PE
MT+
MT-
PE
BR+
BR-
E
M3~
T
0 V
Q1
X9
X6
X2A/X2B
3-phase
24 V supply
Encoder/
Resolver
Fig. 4.3 Connection 3-phase to the power supply voltage and the motor
4 Electrical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 27
The power supply cables for the power end stage are alternatively connected to the following
terminals:
Connection
Supply (Observe instructions in chapter 4.7.4)
AC supply L, N for single-phase motor controllers
L1, L2, L3 for three-phase motor controllers
DC supply ZK+, ZK–
Motor temperature switch
PTC or N/C contact/
N/O contact1)
(e.g. KTY81)
MT+, MT–;
[X6]
if this is carried together with the motor phases in
one cable
Analogue
temperature sensor1)MT+, MT–;
[X2A] or [X2B]
1) Not for motors of the series EMMS-AS
Tab. 4.1 Connection of power supply cables
The connection of the encoder via the D-SUB plug to [X2A] or [X2B] is roughly shown diagrammatically
in Fig. 4.1, Fig. 4.2 and Fig. 4.3.
Note
If the polarity of the operating voltage connections is reversed, or if the operating
voltage is too high or the operating voltage and motor connections are reversed, the
motor controller CMMP-AS-...-M3 will be damaged.
4 Electrical installation
28 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4.2 Connection: I/O communication [X1]
4.2.1 Plug [X1]:
Motor controller Design on the device Counterplug
CMMP-AS-...-M3 D-SUB plug, 25-pin, socket Sub-D plug, 25-pin, pins
Tab. 4.2 Plug design [X1]
4.2.2 Pin assignments [X1]
[X1] Pin no. Designation Specification
13 DOUT3 Output freely programmable
25 DOUT2 Output freely programmable
12 DOUT1 Output freely programmable
24 DOUT0 Operation status output
11 DIN9 High-speed input
23 DIN8 Start positioning task input
10 DIN7 Limit switch 1 input (blocks n < 0)
22 DIN6 Limit switch 0 input (blocks n > 0)
9 DIN5 Controller enable input
21 DIN4 End stage enable
8 DIN3 Target selection positioning Bit3
20 DIN2 Target selection positioning Bit2
7 DIN1 Target selection positioning Bit1
19 DIN0 Target selection positioning Bit0
6 GND24 Reference potential for digital I/Os
18 +24 V 24 V output
5 AMON1 Analogue monitor output 1
17 AMON0 Analogue monitor output 0
4 +VREF Reference output for setpoint potentiometer
16 AIN2 Setpoint inputs 1 and 2, single ended, maximum
30 V input voltage
3 AIN1 Setpoint inputs 1 and 2, single ended, maximum
30 V input voltage
15 #AIN0 Setpoint input 0, differential, maximum 30 V input
voltage
2 AIN0 Setpoint input 0, differential, maximum 30 V input
voltage
14 OGND Reference potential for analogue signals
1 OGND Screening for analogue signals, AGND
Tab. 4.3 Pin assignment: I/O communication [X1]
4 Electrical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 29
Controller CMMP-AS-…-M3
Pin no.
X1
AIN0
#AIN0
AIN1
AIN2
+VREF
OGND
AMON0
AMON1
OGND
100 mA
max!
+24VDC
DIN0
DIN9
DOUT0
DOUT3
GND24
100 mA
max!
PE PE
GND24
+24VDC
OGND
AIN0
#AIN0
AIN1/AIN2
OGND
OGND
+VREF
OGND
+15VDC
AMON0/1
OGND
DINX
OGNDGND
GND24
GND
GND
GND24
+24VDC
DOUTX
Plug housing
2
15
3
16
4
14
17
5
14
1
18
19
11
24
13
6
Fig. 4.4 Basic circuit diagram of connection [X1]
Control cable and D-Sub plugwww.festo.com/catalogue.
4 Electrical installation
30 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4.3 Connection: resolver [X2A]
4.3.1 Plug [X2A]
Motor controller Design on the device Counterplug
CMMP-AS-...-M3 D-SUB plug, 9-pin, socket Sub-D plug, 9-pin, pins
Tab. 4.4 Plug design [X2A]
4.3.2 Pin assignment [X2A]
[X2A] Pin no. Designation Value Specification
1 S2 3.5 Veff 5-10 kHz
Ri > 5 kΩ
SINE tracking signal,
differential6 S4
2 S1 3.5 Veff 5-10 kHz
Ri > 5 kΩ
COSINE tracking signal,
differential7 S3
3 OGND 0 V Screening for signal pairs
(inner screening)
8 MT- GND Reference potential for
temperature sensor
4 R1 7 Veff 5-10 kHz
IA ≤ 150 mAeff
Carrier signal for resolver
9 R2 GND
5 MT+ +3.3 V Ri= 2 kΩ Temperature sensor, motor
temperature, N/C contact, PTC,
KTY ...
Tab. 4.5 Pin assignment [X2A]
The outer screening must always be connected to the PE (plug housing) of the motor controller.
The inner screenings must be placed on one side on the motor controller CMMP-AS-...-M3 on PIN3
of [X2A].
4 Electrical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 31
4.4 Connection: encoder [X2B]
4.4.1 Plug [X2B]
Motor controller Design on the device Counterplug
CMMP-AS-...-M3 D-SUB plug, 15-pin, socket D-SUB plug, 15-pin, pins
Tab. 4.6 Plug design [X2B]
4.4.2 Pin assignment [X2B]
[X2B] Pin no. Designation Value Specification
1 MT+ +3.3 V Ri= 2 kΩ Temperature sensor, motor
temperature, N/C contact, PTC,
KTY ...
9 U_SENS+ 5 V … 12 V
RI L 1 kΩ
Sensor cable for the encoder
supply2 U_SENS-
10 US 5 V/12 V ±10%
Imax = 300 mA
Operating voltage for high-res-
olution incremental encoder
3 GND 0 V Reference potential of encoder
power supply and motor tem-
perature sensor
11 R 0.2 VSS… 0.8 VSS
RI L 120 Ω
Zero impulse tracking signal
(differential) from high-resolu-
tion incremental encoder4 R#
12 COS_Z1 1) 1 VSS
RI L 120 Ω
COSINE commutation signal
(differential) from high-resolu-
tion increment generator5 COS_Z1# 1)
13 SIN_Z1 1) 1 VSS
RI L 120 Ω
SINE commutation signal (dif-
ferential) from high-resolution
incremental encoder6 SIN_Z1# 1)
14 COS_Z0 1) 1 VSS ±10%
RI L 120 Ω
COSINE tracking signal (differ-
ential) from high-resolution in-
cremental encoder7 COS_Z0# 1)
15 SIN_Z0 1) 1 VSS ±10%
RI L 120 Ω
SINE tracking signal (differen-
tial) from high-resolution incre-
mental encoder8 SIN_Z0# 1)
1) Heidenhain encoder: A=SIN_Z0; B=COS_Z0, C=SIN_Z1; D=COS_Z1
Tab. 4.7 Pin assignment: analogue incremental encoder – optional
The outer screening must always be connected to the PE (plug housing) of the motor controller.
4 Electrical installation
32 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
[X2B] Pin no. Designation Value Specification
1 MT+ +3.3 V Ri= 2 kΩ Temperature sensor, motor
temperature, N/C contact, PTC,
KTY ...
9 U_SENS+ 5 V … 12 V
RI L 1 kΩ
Sensor cable for the encoder
supply2 U_SENS-
10 US 5 V/12 V ±10%
Imax = 300 mA
Operating voltage for high-res-
olution incremental encoder
3 GND 0 V Reference potential of encoder
power supply and motor tem-
perature sensor
11 –
4 –
12 DATA 5 VSS
RI L 120 Ω
Bidirectional RS485 data cable
(differential)5 DATA#
13 SCLK 5 VSS
RI L 120 Ω
RS485 clock output (differen-
tial)6 SCLK#
14 COS_Z0 1) 1 VSS ±10%
RI L 120 Ω
COSINE tracking signal (differ-
ential) from high-resolution in-
cremental encoder7 COS_Z0 1)#
15 SIN_Z0 1) 1 VSS ±10%
RI L 120 Ω
SINE tracking signal (differen-
tial) from high-resolution incre-
mental encoder8 SIN_Z0 1)#
1) Heidenhain encoder: A=SIN_Z0; B=COS_Z0
Tab. 4.8 Pin assignment: incremental encoder with serial interface, e.g. EnDat – optional
The outer screening must always be connected to the PE (plug housing) of the motor controller.
4 Electrical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 33
[X2B] Pin no. Designation Value Specification
1 MT+ +3.3 V Ri= 2 kΩ Temperature sensor, motor
temperature, N/C contact, PTC,
KTY ...
9 U_SENS+ 5 V … 12 V
RI L 1 kΩ
Sensor cable for the encoder
supply2 U_SENS-
10 US 5 V/12 V / ±10%
Imax = 300 mA
Operating voltage for high-res-
olution incremental encoder
3 GND 0 V Reference potential of encoder
power supply and motor tem-
perature sensor
11 N 2 VSS… 5 VSS
RI L 120 Ω
Zero impulse RS422 (differen-
tial) from digital increment
generator4 N#
12 H_U 0V/5V
RI L 2 kΩ
at VCC
Phase U Hall sensor for com-
mutation
5 H_V Phase V Hall sensor for com-
mutation
13 H_W Phase W Hall sensor for com-
mutation
6 –
14 A 2 VSS… 5 VSS
RI L 120 Ω
A tracking signal RS422 (differ-
ential) from digital incremental
encoder7 A#
15 B 2 VSS… 5 VSS
RI L 120 Ω
B tracking signal RS422 (differ-
ential) from digital incremental
encoder8 B#
Tab. 4.9 Pin assignment: digital incremental encoder – optional
The outer screening must always be connected to the PE (plug housing) of the motor controller.
4 Electrical installation
34 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4.5 Connection: CAN bus [X4]
4.5.1 Plug [X4]
Motor controller Design on the device Counterplug
CMMP-AS-...-M3 D-SUB plug, 9-pin, pin D-SUB plug, 9-pin, socket
Tab. 4.10 Plug design [X4]
4.5.2 Pin assignment [X4]
[X4] Pin no. Designation Value Description
1 – – Unused
6 CAN-GND – Galvanically connected to GND in the
motor controller
2 CAN-L – Negative CAN signal (dominant low)
7 CAN-H – Positive CAN signal (dominant high)
3 CAN-GND – Galvanically connected to GND in themotor controller
8 – – Unused
4 – – Unused
9 – – Unused
5 CAN shield – Screening
Tab. 4.11 Pin assignment for CAN interface [X4]
4 Electrical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 35
4.6 Connection: motor [X6]
4.6.1 Plug [X6]
Motor controller Design on the device Counterplug Code
CMMP-AS-C2-3A-M3 PHOENIX Contact
MSTBA 2.5/9-G-5.08 BK
PHOENIX Contact
MSTB 2.5/9-ST-5.08 BK
PIN1 (BR-)
CMMP-AS-C5-3A-M3
CMMP-AS-C5-11A-P3-M3 PHOENIX Power-Combicon
PC 4/9-G-7,62 BK
PHOENIX Power-Combicon
PC 4 HV/9-G-7,62 BK
–
CMMP-AS-C10-11A-P3-M3
Tab. 4.12 Plug design [X6]
4.6.2 Pin assignment [X6]
[X6]1) Pin no. Designation Value Specification
1
9
1 BR- 0 V brake Holding brake (motor), signal
level dependent on switching
status, high-side/low-side
switch2 BR+ 24 V brake
3 PE PE Cable shield for the holding
brake and the temperature
sensor (with Festo cables: nc)
4 -MTdig GND Motor temperature sensor,
N/C contact, N/O contact, PTC,
KTY ...5 +MTdig +3.3 V 5 mA
6 PE PE Protective earth conductor
from the motor
7 W Technical data
table Tab. A.9
Connection of the three motor
phases8 V
9 U
1) Example plug from the motor controller CMMP-AS-...-3A-M3
Tab. 4.13 Pin assignment [X6] connection: motor
The shielding for the motor cable must also be attached to the housing of the motor con-
troller (spring clip: Fig. 2.5 page 16).
A motor holding brake can be connected to terminals BR+ and BR-. The locking brake is supplied from
the logic supply of the motor controller. The maximum output current provided by theCMMP-AS-...-M3
motor controller must be observed.
To release the holding brake, care must be taken to maintain the voltage tolerances at the
holding brake connection terminals.
Also observe the specifications in Tab. A.4 page 56.
4 Electrical installation
36 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
It may be necessary to insert a relay between the device and the holding brake, as shown in
Fig. 4.5 page 36:
CMMP-AS-...-M3
BR+
BR-
Resistor and
condenser for
spark arresting
+24 V power pack
GND power pack
+24 V brake
GND brake
Motor
Free-wheeling diode
Fig. 4.5 Connecting a high-current holding brake to the device
Switching inductive DC currents via relays causes strong currents and sparks. For interfer-
ence suppression, we recommend integrated RC interference suppressors, e.g. from Evox
RIFA, designation: PMR205AC6470M022 (RC element with 22 Ω in series with 0.47 μF).
4 Electrical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 37
4.7 Connection: voltage supply [X9]
The motor controller CMMP-AS-...-M3 also receives its 24 VDC power supply for the control electronics
via plug connector [X9].
The main power supply for the motor controllers CMMP-AS-…-3A-M3 is 1-phase and for the motor con-
trollers CMMP-AS-…-11A-P3-M3 3-phase.
4.7.1 Plug
Motor controller Design on the device Counterplug Code
CMMP-AS-C2-3A-M3 PHOENIX Contact
MSTBA 2,5/9-G-5,08-BK
PHOENIX Contact
MSTB 2,5/9-ST-5,08-BK
PIN9 (GND24V)
CMMP-AS-C5-3A-M3
CMMP-AS-C5-11A-P3-M3 PHOENIX
Power-COMBICON
PC 4 HV/11-G-7,62-BK
PHOENIX
Power-COMBICON
PC 4 HV/11-ST-7,62-BK
–
CMMP-AS-C10-11A-P3-M3
Tab. 4.14 Plug design [X9]
4.7.2 Pin allocation [X9] – 1-phase
[X9] Pin no. Designation Value Specification
1
9
1 L 100 … 230 VAC
±10%
50 … 60 Hz
Mains phase
2 N Mains neutral conductor (refer-
ence potential)
3 ZK+ < 440 VDC Alternative supply:
Positive intermediate circuit
voltage
4 ZK- GND_ZK Alternative supply:
Negative intermediate circuit
voltage
5 BR-INT < 460 VDC Internal braking resistor con-
nection (bridge after BR-CH
when using the internal resist-
or).
6 BR-CH < 460 VDC Brake chopper connection for
– internal braking resistor to-
ward BR-INT – or –
– external braking resistor
against ZK+
7 PE PE Connection of protective earth
conductor from the mains grid
8 +24 V +24 VDC Supply for control section,
holding brake and I/O
9 GND24 V GND24 VDC 0 V supply reference potential
Tab. 4.15 Pin allocation [X9] – 1-phase
4 Electrical installation
38 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4.7.3 Pin allocation [X9] – 3-phase
[X9] Pin no. Designation Value Specification
1
11
1 L1 230 … 480 VAC
±10%
50 … 60 Hz
Mains phase 1
2 L2 Mains phase 2
3 L3 Mains phase 3
4 ZK+ < 700 VDC Alternative supply: positive in-
termediate circuit voltage
5 ZK- GND_ZK Alternative supply: negative in-
termediate circuit voltage
6 BR-EXT < 800 VDC Connection of the external
braking resistor
7 BR-CH < 800 VDC Brake chopper connection for
– internal braking resistor
against BR-INT – or –
– external braking resistor
against BR-EXT
8 BR-INT < 800 VDC Internal braking resistor con-
nection (bridge after BR-CH
with use of the internal resist-
or)
9 PE PE Connection of protective earth
conductor from the mains grid
10 +24 V +24 VDC Supply for control section,
holding brake and I/O
11 GND24 V GND24 VDC Supply reference potential
Tab. 4.16 Pin allocation [X9] – 3-phase
4.7.4 AC supply
Switch-on behaviour:
– As soon as the motor controller CMMP-AS-...-M3 is provided with mains voltage, the intermediate
circuit is charged (< 1 s) via the braking resistors, with the intermediate circuit relay deactivated.
– After the intermediate circuit has been pre-charged, the relay engages and the intermediate circuit
without resistors is connected directly to the mains supply.
AC supply with active PFC
The PFC step is available only for 1-phase motor controllers (CMMP-AS-...-3A-M3).
4 Electrical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 39
Note
Operation with mains line choke is not permissible, since the control circuit could be
stimulated to oscillate.
Note
Operation with isolating transformer is not permissible since no reference potential (N)
is available.
Note
When the load voltage is switched on, ensure that the reference potential (N) is
switched before the phase (L1). This can be achieved through:
– unswitched reference potential (N)
– use of fuses with leading N when switching of the reference potential is not spe-
cified.
DC supply - intermediate circuit coupling
A direct DC power supply can be used for the intermediate circuit as an alternative to AC power or for
achieving intermediate circuit coupling.
The intermediate circuits of several motor controllers CMMP-AS-...-M3 can be connected via the ZK+
and ZK- terminals at plug connector [X9]. Coupling of the intermediate circuits is useful in applications
where high braking energies occur or where motion must still be performed when the power supply
fails.
Note
For 1-phase motor controllers (CMMP-AS-...-3A-M3), the PFC step must be deactivated
when the motor controller is coupled through the intermediate circuit.
4.7.5 Braking resistor
If no external braking resistor is used, a bridge to the internal braking resistor must be
connected in order for the intermediate circuit quick discharge to function! Tab. 4.15 or
Tab. 4.16.
For larger braking power an external braking resistor must be connected [X9].
4 Electrical installation
40 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4.8 Connection: incremental encoder input [X10]
4.8.1 Plug [X10]
Motor controller Design on the device Counterplug
CMMP-AS-...-M3 D-SUB plug, 9-pin, socket Sub-D plug, 9-pin, pins
Tab. 4.17 Plug design [X10]
4.8.2 Pin assignment [X10]
[X10] Pin no. Designation Value Specification
1 A/CLK/CW 5 V
RI L 120 Ω
Incremental encoder signal A
Stepper motor signal CLK
Pulses clockwise CW
Pos. polarity in accordance with RS422
6 A#/CLK#/CW# 5 V
RI L 120 Ω
Incremental encoder signal A
Step motor signal CLK
Pulses clockwise CW
Neg. polarity in accordance with RS422
2 B/DIR/CCW 5 V
RI L 120 Ω
Incremental encoder signal B
Step motor signal DIR
Pulses counterclockwise CCW
Pos. polarity in accordance with RS422
7 B#/DIR#/CCW# 5 V
RI L 120 Ω
Incremental encoder signal B
Step motor signal DIR
Pulses counterclockwise CCW
Neg. polarity in accordance with RS422
3 N 5 V
RI L 120 Ω
Incremental encoder zero pulse N
Pos. polarity in accordance with RS422
8 N# 5 V
RI L 120 Ω
Incremental encoder zero pulse N
Neg. polarity in accordance with RS422
4 GND – Reference GND for encoder
9 GND – Screening for the connecting cable
5 VCC +5 V ±5%
100 mA
Auxiliary supply, maximum load 100
mA, short-circuit proof!
Tab. 4.18 Pin allocation X10: incremental encoder input
When connecting two motor controllers in the master-slave mode via [X11] and [X10], the
pins 5 (+5 V - auxiliary supply) must not be connected to each other.
4 Electrical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 41
4.8.3 Type and design of the cable [X10]
We recommend using encoder connection cables where the incremental encoder signal is transmitted
via twisted pairs, with each pair being individually shielded.
4.8.4 Connection instructions [X10]
Input [X10] can be used for processing incremental encoder signals and also for pulse direction signals
as generated by stepper motor controller cards.
The input amplifier at the signal input is designed for processing differential signals as per the RS422
interface standard.
4.9 Connection: incremental encoder output [X11]
4.9.1 Plug [X11]
Motor controller Design on the device Counterplug
CMMP-AS-...-M3 D-SUB plug, 9-pin, socket Sub-D plug, 9-pin, pins
Tab. 4.19 Plug design [X11]
4.9.2 Pin assignment [X11]
[X11] Pin no. Designation Value Specification
1 A 5 V RA L 66 Ω1) Incremental encoder signal A
6 A# 5 V RA L 66 Ω1) Incremental encoder signal A#
2 B 5 V RA L 66 Ω1) Incremental encoder signal B
7 B# 5 V RA L 66 Ω1) Incremental encoder signal B#
3 N 5 V RA L 66 Ω1) Incremental encoder zero
pulse N
8 N# 5 V RA L 66 Ω1) Incremental encoder zero
pulse N#
4 GND - Reference GND for encoder
9 GND - Screening for connecting
cable
5 VCC +5 V ±5% 100 mA Auxiliary supply, maximum
load 100 mA, short-circuit
proof!
1) The specification for RA designates the differential output resistance
Tab. 4.20 Pin assignment [X11]: incremental encoder output
The output driver at the signal output provides differential signals (5 V) as per the RS422 interface
standard.
Up to 32 other controllers can be addressed by one device.
When connecting two motor controllers in the master-slave mode via [X11] and [X10], the
pins 5 (+5 V - auxiliary supply) must not be connected to each other.
4 Electrical installation
42 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
4.10 Instructions on safe and EMC-compliant installation
4.10.1 Explanations and terms
Electromagnetic compatibility (EMC) or electromagnetic interference (EMI) involves the following re-
quirements:
Resistance to interference
Sufficient interference immunity of an electrical system or electrical device against external electrical,
magnetic or electromagnetic noise via lines or space.
Emitted interference
Sufficiently low emitted interference of electrical, magnetic or electromagnetic interference of an elec-
trical system or an electrical device on other devices in the environment via cables and space.
Warning
All PE protective earth conductors must always be connected prior to commissioning for
reasons of safety.
The mains-side PE connection is made to the PE connection points (device rear wall) and
[X9] of the CMMP-AS-...-M3.
Make sure that the earth connections between devices and the mounting plate are of
sufficiently large dimensions in order to be able to discharge HF interference.
4.10.2 General remarks on EMC
Interference emission and resistance to interference of a motor controller always depend on the com-
plete design of the drive, which consists of the following components:
– Power supply
– Motor controller
– Motor
– Electromechanical components
– Design and type of wiring
– Higher-order controller
In order to increase the resistance to interference and decrease the emitted interference, the CMMP-
AS-...-M3 motor controller already has integrated motor chokes and mains filters, which means that the
CMMP-AS-...-M3 motor controller can be operated without additional shielding and filters in most ap-
plications.
The CMMP-AS-...-M3 motor controllers have been approved in accordance with the valid
product standard EN 61800-3 applicable to electric drives. The components from Festo
were used for this purpose (e.g. motor, encoder, or resolver cables). These cables must
not be extended.
In the majority of cases, no external filter measures are required ( table 4.10.3)
The declaration of conformity is available on www.festo.com.
4 Electrical installation
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 43
4.10.3 EMC areas: first and second environment
If installed correctly and if all connecting cables are wired correctly, the CMMP-AS-...-M3 motor control-
lers fulfil the specifications of the related product standard EN 61800-3. This standard no longer refers
to limit value classes, but to so-called environments.
Note
The first environment (C2) includes electricity grids connected to residential housing;
the second environment (C3) includes grids connected only to industrial plants.
Applicable for the motor controller CMMP-AS-...-M3:
EMC class Area Compliance with EMC requirements
Emitted
interference
Second environ-
ment (industrial)
Motor cable lengths up to 25 m without external filters.
A suitable mains filter must be installed when longer mo-
tor cables of 25 … 50 m are used.
Resistance to
interference
Second environ-
ment (industrial)
Independent of the motor cable length.
Tab. 4.21 EMC requirements
4.10.4 EMC-compliant wiring
The following must be observed for EMC-compliant design of the drive system (see also chapter 4
, page 24):
1. To keep leaked current and losses in the motor cable as low as possible, the motor controller
CMMP-AS-...-M3 should be placed as close to the motor as possible ( chapter 4.10.5 page 44).
2. Motor and encoder cable must be screened.
3. The screening of the motor cable is attached to the housing of the motor controller CMMP-AS-...-M3
(screened connection terminals, spring clips). The cable screening is also always attached to the
corresponding motor controller to prevent leaked current flowing back to the controller which
caused it.
4. The mains-side PE connection is connected to the PE connection point of the power supply [X9] and
to the PE connection of the housing.
5. The PE internal conductor of the motor cable is connected to the PE connection point of the motor
connection [X6].
6. Signal lines must be separated as far as possible from the power cables. They should not be routed
parallel to one another. If crossovers are unavoidable, they should be made as close to vertical (i.e.
at a 90° angle) as possible.
7. For unscreened signal and control lines, safe/reliable operation cannot be guaranteed. If they must
be used, they should at least be twisted.
8. Even screened lines always have short unscreened parts at both ends (unless a screened plug hous-
ing is used).
4 Electrical installation
44 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
In general:
– Connect the inner screenings to the pins of the plug connectors provided for the purpose; length
maximum 40 mm.
– Length of the unscreened wires with self-made cables, maximum 35 mm.
– Connect entire screening on the controller side flush to the PE terminal; maximum length 40 mm.
– Connect entire screening flush at the motor to the plug or motor housing; length maximum 40 mm
(guaranteed with NEBM-...).
Danger
All PE protective earth conductors must always be connected prior to commissioning for
reasons of safety.
The regulations of EN 50178 and EN 60204-1 for protective grounding must always be
observed during installation!
4.10.5 Operation with long motor cables
For applications in combination with long motor cables and/or if the wrong motor cables are selected
with excessive cable capacity, the filters may be subjected to thermal overload. In order to avoid such
problems, we strongly recommend the following procedure for applications in which long motor cables
are required:
– From a cable length of over 25 m, use only cables with a capacitance between the motor phase and
screening of less than 200 pF/m, or better, less than 150 pF/m and also use a mains filter!
Note
Longer cable lengths result in deviations to the current regulator amplification (line
resistance).
4.10.6 ESD protection
Caution
Unused D-SUB plug connectors present a danger of damage to the device or to other
parts of the system as a result of ESD (electrostatic discharge).
In the design of the motor controller CMMP-AS-...-M3, great importance has been placed on high resist-
ance to interference. For this reason, individual function blocks are galvanically separated from each
other. Signal transmission within the device is performed via an optocoupler.
A distinction is made between the following separated areas:
– Output stage with intermediate circuit and mains input
– Control electronics with analogue signal processing
– 24 V supply and digital inputs and outputs
5 Commissioning
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 45
5 Commissioning
5.1 General connection instructions
As the installation of the connecting cables is critical for EMC, the preceding
chapter 4.10.4 page 43 must be observed!
Warning
DANGER!
Non-compliance with the safety instructions in chapter 1 page 8 can result in materi-
al damage, injury, electric shock, or in extreme cases, fatality.
5.2 FCT interfaces
5.2.1 Overview of interfaces
1
2
1 [X19]: USB 2 [X18]: Ethernet
Fig. 5.1 FCT interfaces
5.2.2 USB [X19]
The equipment of the series CMMP-AS-...-M3 have a USB interface for parametrisation. The USB inter-
face is used as a configuration interface for the FCT configuration.
The following functions are supported:
– Simulation of the RS232 interface via USB
– Complete parametrisation of theCMMP-AS-...-M3 via FCT
– Firmware download via FCT
5 Commissioning
46 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Interface design
The plug connector is designed as a Type B terminal socket. All standard terminal cables up to a length
of 5m can be used. If longer cables are required, the corresponding USB repeaters must be used.
The USB interface is designed as a pure slave interface (the CMMP-AS…-M3 is the slave, the PC is the
host). It meets the USB specification Rev. USB 1.1.
USB driver for the PC
The FCT connection is made via the standard Kernel Mode driver “WinUsb.sys” and the device configur-
ation and the access to the endpoints via the WinUSB API.
The USB driver package is a component of the FCT installation.
The following operating systems are supported through this:
– Windows XP from Service Pack 2
– Windows Vista
– Windows 7
The WinUsb.sys is installed as equipment function driver.
5.2.3 Ethernet TCP/IP [X18]
The equipment of the series CMMP-AS-…-M3A have a USB interface for parametrisation.
The following functions are supported:
– Point-to-point communication between PC and motor controller for parametrisation
– Complete parametrisation of theCMMP-AS-...-M3 via FCT
– Communication from one PC or one PLC to several CMMP-AS-...-M3 that are located in the same
local network for the purpose of monitoring, adaptation of the parametrisation or also process con-
trol of the controller.
Interface design
The interface in the device is designed as an 8P8C socket (RJ45).
The connection has two LEDs with the following function:
– Yellow Physical Link Detect (network connection available)
– Green Data Connection (data connection / data exchange)
The interface is designed to conform to the IEEE 802.3u specification. Cables of type FTP5 or high-order
must be used with 100Base-TX. The interface supports the autosensing function for automatic identi-
fication of the connected cable. Both standard patch cables (1:1) and Crosslink (crossed) cables can be
used.
Supported services
The following services are supported by the Ethernet interface:
– TCP/IP
– UDP/IP
– DNS (ARP and BOOTP)
– DHCP
– AutoIP
– TFTP
5 Commissioning
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 47
Address allocation
The network settings (IP address, subnetwork mask, gateway) can either be automatically obtained or
manually specified:
– Automatically via DHCP (the automatically obtained IP address lies in the IP range specified by the
DHCP server)
– Automatically via Auto IP (if no DHCP server was found, an address between 169.254.1.0 and
169.254.254.255 is selected pseudorandomly)
– Manual IP assignment (manual setting of the network parameters via FCT)
The following sequence applies for connection set-up:
1. DHCP
2. AutoIP
3. Static IP address
If no IP address can be obtained via the higher-level service, the following service is used. Thus if no
address can be obtained via DHCP, first an AutoIP and then a static address is used.
5.3 Tool / material
– Slotted head screwdriver size 1
– USB cable or network cable for parametrisation
– Encoder cable
– Motor cable
– Power supply cable
– Control line
5.4 Connecting the motor
1. Connect motor cable on the motor side.
2. Insert the PHOENIX plug into the socket [X6] on the device.
3. Clamp the cable shields to the shield terminals (not suitable as strain-relief ).
4. Connect encoder cable on the motor side.
5. Insert the D-SUB plug into socket [X2A] resolver or [X2B] encoder of the device and tighten the lock-
ing screws.
6. Check all plug connectors once again.
5 Commissioning
48 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
5.5 Connect motor controller CMMP-AS-...-M3 to the power supply
Warning
Danger of electric shock.
– Whenmodules or cover plates are not mounted on the slots Ext1 … Ext3.
– When cables are not mounted to the plugs [X6] and [X9].
– When connecting cables are disconnected when powered.
Touching live parts causes severe injuries and can lead to death.
The product may only be operated in a built-in status and when all protective measures
have been initiated.
Before touching live parts during maintenance, repair and cleaning work and when there
have been long service interruptions:
1. Switch off power to the electrical equipment and secure it against being switched on
again.
2. After switch-off, wait at least 5 minutes discharge time and check that power is
turned off before accessing the controller.
1. Make sure that the power supply is switched off.
2. Connect the PE cable of the mains supply to the PE earth socket.
3. Insert the PHOENIX plug into the socket [X9] of the motor controller.
4. Connect 24 V connections with appropriate power pack.
5. Make the network power supply connections.
6. Check all plug connectors once again.
5.6 Connect the PC
1. Connect PC via USB 5.2.2 USB [X19] or Ethernet 5.2.3 Ethernet TCP/IP [X18] to the motor
controller.
5.7 Check operating status
1. Make sure that the controller enable is switched off (controller enable: DIN 5 at [X1]).
2. Switch on the power supplies of all equipment.
During the boot procedure, the point of the seven-segment display lights up.
After completion of the boot procedure, the READY LED lights green.
If the READY LED lights up red, there is a malfunction. If the seven-segment display shows
a numerical sequence with “E” in front of it, this is an error message. You must eliminate
the cause of the message. In this case, continue to read in the chapter A page 55.
If no indicator lights up on the device, execute the following steps:
5 Commissioning
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 49
No indicator lights up
1. Switch off the power supply.
2. Wait 5 minutes to allow the intermediate circuit to discharge.
3. Check all connecting cables.
4. Check that the 24 V power supply is functional.
5. Switch on the power supply again.
6. If still no indicator lights up, device is defective.
6 Service functions and diagnostic messages
50 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
6 Service functions and diagnostic messages
6.1 Protective and service functions
6.1.1 Overview
The motor controller CMMP-AS-...-M3 has a complex array of sensors that monitor the controller sec-
tion, power output stage, motor and external communication to ensure that they function excellently.
All diagnostic events which occur are saved in the internal diagnostic memory. Most errors cause the
controller section to switch off the motor controller and the power end stage. The motor controller can
only be switched on again when the error has been eliminated and then acknowledged.
A complex system of sensors and numerous monitoring functions ensure operational reliability:
– Measurement of the motor temperature
– Measurement of the power output stage temperature
– Earth fault detection (PE)
– Detection of short-circuits between two motor phases
– Detection of overvoltages in the intermediate circuit
– Detection of faults in the internal voltage supply
– Collapse of supply voltage
6.1.2 Phases and mains failure detection
The motor controllers CMMP-AS-...-11A-P3-M3 detect a phase failure in three-phase operation (phase
failure detection) or failure of several phases (network failure detection) of the mains supply at the
device.
6.1.3 Overload current and short-circuit monitoring
Overload current and short-circuit monitoring detects short circuits between two motor phases and
short circuits at the motor output terminals against the positive and negative reference potential of the
intermediate circuit and against PE. If the error control detects overload current, the power output
stage shuts down immediately, guaranteeing protection against short circuits.
6.1.4 Overvoltage monitoring for the intermediate circuit
The overvoltage monitoring for the intermediate circuit takes effect as soon as the intermediate circuit
voltage exceeds the operating voltage range. The power output stage is then deactivated.
6 Service functions and diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 51
6.1.5 Temperature monitoring for the heat sink
The heat sink temperature of the output end stage is measured with a linear temperature sensor. The
temperature limit varies from device to device Tab. A.3 on page 56. A temperature warning is
triggered at about 5°C below the limit value.
6.1.6 Monitoring of the motor
The motor controller CMMP-AS-...-M3 has the following protective functions for monitoring the motor
and the connected shaft encoder:
Protective func-
tion
Description
Monitoring the
shaft encoder
An error of the shaft encoder causes the power output stage to be switched off.
For the resolver, for example, the tracking signal is monitored. For increment
generators, the commutator signals are checked. Generally true for intelligent
encoders is that their various error messages are evaluated and reported to the
CMMP-AS-...-M3 as common error E 08-8.
Measurement and
monitoring of the
motor temperat-
ure
The motor controller CMMP-AS-...-M3 has a digital and an analogue input for
recording and monitoring the motor temperature. The following temperature
sensors can be selected:
– [X6]: Digital input for PTCs, N/C contacts and N/O contacts.
– [X2A] and [X2B]: N/C contact and KTY series analogue sensors. Other
sensors (NTC, PTC) require a corresponding software ad-
aptation as needed.
Tab. 6.1 Protective functions of the motor
6.1.7 I2t monitoring
The motor controller CMMP-AS-...-M3 has I2t monitoring to limit the average power loss in the power
end stage and in the motor. Since the power loss that occurs in the power electronics and the motor
can, in the worst case, grow at a rate equal to the square of the flowing current, the squared current
value is taken as a measure for the power loss.
6.1.8 Power monitoring for the brake chopper
The braking resistors are monitored on the firmware side through the function I2t brake chopper. When
the output monitoring reaches “I²t brake chopper” of 100%, the output of the internal braking resistor
is switched back to rated output.
As a result of this switch back, the error “E 07-0” “Overvoltage in the intermediate circuit” is generated
if the braking process is not yet finished and (too much) energy is fed back to the controller.
In addition, the brake chopper is protected by means of overcurrent detection. If a short circuit is detec-
ted via the braking resistor, the brake chopper controller is switched off.
6.1.9 Commissioning status
Motor controllers sent to Festo for servicing are loaded with other firmware and parameters for testing
purposes.
6 Service functions and diagnostic messages
52 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Before it is commissioned again at the location of the final customer, the motor controller CMMP-
AS-...-M3 must be parametrised. The parametrisation software queries the commissioning status and
prompts the user to parametrise the motor controller. At the same time, the device signals that it is
ready for operation but has not yet been parametrised by displaying 'A' on the seven-segment display.
6.1.10 Rapid discharge of the intermediate circuit
When a mains supply failure is detected, the intermediate circuit is quickly discharged within the safety
time specified in EN 60204-1.
Delayed connection of the brake chopper by power class in parallel operation and when a mains failure
occurs ensures that the main energy during rapid discharge of the intermediate circuit is taken over
through the braking resistors of the higher power classes.
But the rapid discharge can be ineffective in certain device constellations, especially
when several motor controllers are connected in parallel in the intermediate circuit or a
brake resistance is not connected. The motor controllers may carry dangerous voltage for
up to 5 minutes after being switched off (capacitor residual charge).
6.2 Operating mode and diagnostic messages
6.2.1 Operation and display components
The motor controller CMMP-AS-...-M3 has two LEDs on the front and one seven-segment display for
showing the operating statuses.
Component LED col-
our
Function
Seven-segment display – Displays the operating mode and a coded error number if
an error occurs 6.2.2 Seven-segment display
LED1 Green Operating status
Red Error
LED2 Green Controller enable
LED3 Yellow CAN bus status display
RESET button – Hardware reset for the processor
Tab. 6.2 Display components and RESET pushbutton
6 Service functions and diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 53
6.2.2 Seven-segment display
The display and the meaning of the symbols shown are illustrated in the following table:
Display Significance
The outer segments “rotate” on the display in the speed control operating mode.
The display depends on the current actual position or speed.
With active controller enable, the centre bar is also active.
The motor controller CMMP-AS-...-M3 must still be parametrised.
(Seven-segment display = “A”)
Controlled torque mode.
(Seven-segment display = “I”)
“H”: The motor controller is in the “safe status”.
This does not mean the same as the information about the status of the safety func-
tion STO (Safe Torque Off ). This can only be read at the LED of the safety module.
For the “unsafe status”, no special display is intended; the standard status displays
of the motor controller are depicted.
“F.”:
Signals that firmware is currently being loaded into the flash.
“.”:
Bootloader active
“d”
Signals that a parameter record is currently being loaded from the SD card to the
controller.
P xxx Positioning (“xxx” is the position number)
The numerals are shown in succession
PH x Homing. “x” stands for the respective phase of the homing:
x = 0: search phase
x = 1: crawl phase
x = 2: run to zero position
The numerals are shown in succession
E xxy Error message with main index “xx” and sub-index “y”
-xxy- Warning message with main index “xx” and sub-index “y”. Warnings are shown at
least twice on the seven-segment display.
Tab. 6.3 Operating mode and error display
6 Service functions and diagnostic messages
54 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
6.2.3 Acknowledgement of error messages
Error messages can be acknowledged through:
– the parametrisation interface
– via the fieldbus (control word)
– a decreasing edge at DIN5 [X1]
Controller
enable
DIN5 [X1]
1
“Error active”
1 L 80 ms
Fig. 6.1 Timing diagram: acknowledge error
Diagnostic events which are parametrised as warnings are automatically acknowledged
when the cause is no longer on hand.
6.2.4 Diagnostic messages
The significance and their measures for diagnostic messages are summarised in the following chapter:
chapter A Technical appendix
A Technical appendix
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 55
A Technical appendix
A.1 Technical data CMMP-AS-...-M3
General technical data
CMMP-AS- C2-3A-M3 C5-3A-M3 C5-11A-P3-M3 C10-11A-P3-M3
Type of mounting Screwed onto connecting plate
Display Digit representation with 7 segments
Parametrisation interface USB 1.1
Ethernet TCP/IP
Certifications
CE marking (see
declaration of conformity)
In accordance with EU Low Voltage Directive
In accordance with EU EMC directive
In accordance with EU Machinery Directive
Dimensions and weight
Dimensions
(HxWxD)1)[mm] 202x66x207 227x66x207 252x79x247
Mounting plate
dimensions
[mm] 248x61 297x75
Weight [kg] 2.1 2.2 3.5
1) without plugs, shield screw and screw heads
Tab. A.1 Technical data, general
Transport and storage
CMMP-AS- C2-3A-M3 C5-3A-M3 C5-11A-P3-M3 C10-11A-P3-M3
Temperature
range
[°C] -25 … +70
Tab. A.2 Technical data: Transport and storage
A Technical appendix
56 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Operating and environmental conditions
CMMP-AS- C2-3A-M3 C5-3A-M3 C5-11A-P3-M3 C10-11A-P3-M3
Permissible setup altitude above sea level
with rated
output
[m] 1000
with power
reduction
[m] 1000 … 2000
Air humidity [%] 0 … 90 (non-condensing)
Protection class IP20
Degree of
contamination
2
Operating
temperature
[°C] 0 … +40
Operating
temperature with
power reduction
of 2.5% per Kelvin
[°C] +40 … +50
Switch-off
temperature,
heat sink power
section
°C 100 80 80 80
Tab. A.3 Technical data: Operating and environmental conditions
Electrical data logic supply
CMMP-AS- C2-3A-M3 C5-3A-M3 C5-11A-P3-M3 C10-11A-P3-M3
Nominal voltage [V DC] 24 ±20%
Nominal current1) [A] 0.55 0.65 1
Maximum current
for holding brake
[A] 1 2
With higher current requirement Fig. 4.5 page 36
1) plus current consumption from an existing holding brake and I/Os
Tab. A.4 Technical data: logic supply
Note
With a warm motor and a supply voltage that is too low (outside of tolerance), the mo-
tor's brakes cannot open 100%, which can lead to premature wearing of the brake.
A Technical appendix
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 57
Electrical data load voltage
CMMP-AS- C2-3A-M3 C5-3A-M3 C5-11A-P3-M3 C10-11A-P3-M3
Number of phases 1 3
Voltage range [V
AC]
100 … 230 ±10% 230 … 480 ±10%
Mains frequency [Hz] 50 … 60
Max. nominal cur-
rent in continuous
operation
[Aeff ] 2.4 4.7 5 9
Intermediate circuit
voltage (without
PFC)
[V DC] 310 … 320 560 … 570
Intermediate circuit
voltage (with PFC)
[V DC] 360 … 380 –
Alternative
DC supply
[V DC] 60 … 380 60 … 700
Power data of the PFC step with nominal supply voltage of 230 VAC ±10%
Continuous output [W] 500 1000 –
Peak power [W] 1000 2000 –
Tab. A.5 Technical data: load voltage
Technical data braking resistor
CMMP-AS- C2-3A-M3 C5-3A-M3 C5-11A-P3-M3 C10-11A-P3-M3
Braking resistor, integrated
Resistance value [Ω] 60 68
Pulse power [kW] 2.8 8.5
Continuous out-
put
[W] 10 20 110
Trigger level
(without PFC)
[V] 389 760
Trigger level (with
PFC)
[V] 440 –
Max. voltage
(without PFC)
[V] 400 800
Max. voltage
(with PFC)
[V] 460 –
Braking resistor, external
Resistance value [Ω] ≥ 50 ≥ 40
Operating voltage [V] ≥ 460 ≥ 800
Continuous out-
put
[W] ≤ 2500 ≤ 5000
Tab. A.6 Technical data: braking resistor
A Technical appendix
58 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Motor cable
CMMP-AS- C2-3A-M3 C5-3A-M3 C5-11A-P3-M3 C10-11A-P3-M3
Max. motor cable
length for second
environment
[m] ≤ 25 (without filter)
Cable capacity of
one phase
against screening
[pF/m] ≤ 200
Tab. A.7 Technical data: motor cable
Motor temperature monitoring
Digital sensor N/C contact: RCold < 500 Ω RHot > 100 kΩ
Analogue sensor Silicon temperature sensor, e.g. KTY81, 82 or similar.
R25 L 2000 Ω
R100 L 3400 Ω
Tab. A.8 Technical data: motor temperature monitoring
Output data
CMMP-AS- C2-3A-M31) C5-3A-M31) C5-11A-P3-M32) C10-11A-P3-M32)
Voltage [VAC] 0 … 270 0 … 360
Nominal power [kVA] 0.5 1 3 6
Max. power for 5
seconds
[kVA] 1 2 6 12
1) Data for operation with 1x230 VAC [± 10%], 50 … 60 Hz
2) Data for operation with 3x400 VAC [±10%], 50 … 60 Hz
Tab. A.9 Technical data: output data
CMMP-AS-C2-3A-M3
Cycle time current regulator1) [μs] 62.5 125
Half end stage frequency1) active inactive active inactive
End stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 2.5 2.2 2.5 2.5
Maximum output current for maximum time
Maximum output current [Aeff ] 5 4.4 5 5
Max. time [s] 5 5 5 5
Maximum output current [Aeff ] 7.5 6.6 7.5 7.5
Max. time [s] 1.3 1.3 1.3 1.3
Maximum output current [Aeff ] 10 8.8 10 10
Max. time [s] 0.5 0.5 0.5 0.5
1) Option with FCT able to be parametrised
Tab. A.10 Output data CMMP-AS-C2-3A-M3
A Technical appendix
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 59
CMMP-AS-C5-3A-M3
Cycle time current regulator1) [μs] 62.5 125
Half end stage frequency1) active inactive active inactive
End stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 5 4.4 5 5
Maximum output current for maximum time
Maximum output current [Aeff ] 10 8.8 10 10
Max. time [s] 5 5 5 5
Maximum output current [Aeff ] 15 13.2 15 15
Max. time [s] 1.3 1.3 1.3 1.3
Maximum output current [Aeff ] 20 17.6 20 20
Max. time [s] 0.5 0.5 0.5 0.5
1) Option with FCT able to be parametrised
Tab. A.11 Output data CMMP-AS-C5-3A-M3
CMMP-AS-C5-11A-P3-M3
Cycle time current regulator1) [μs] 62.5 125
Half end stage frequency1) active inactive active inactive
End stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 5 2.5 5 5
Maximum output current for maximum time
Maximum output current [Aeff ] 10 5 10 10
Max. time [s] 5 5 5 5
Maximum output current [Aeff ] 15 7.5 15 15
Max. time [s] 0.8 1.2 0.8 0.8
Maximum output current [Aeff ] 20 10 20 20
Max. time [s] 0.1 0.15 0.1 0.1
1) Option with FCT able to be parametrised
Tab. A.12 Output data CMMP-AS-C5-11A-P3-M3 with electrical rotation frequency ≤ 5 Hz
A Technical appendix
60 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
CMMP-AS-C5-11A-P3-M3
Cycle time current regulator1) [μs] 62.5 125
Half end stage frequency1) active inactive active inactive
End stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 5 2.5 5 5
Maximum output current for maximum time
Maximum output current [Aeff ] 10 5 10 10
Max. time [s] 5 5 5 5
Maximum output current [Aeff ] 15 7.5 15 15
Max. time [s] 2 2 2 2
Maximum output current [Aeff ] 20 10 20 20
Max. time [s] 0.5 0.5 0.5 0.5
1) Option with FCT able to be parametrised
Tab. A.13 Output data CMMP-AS-C5-11A-P3-M3 with electrical rotation frequency ≥ 20 Hz
CMMP-AS-C10-11A-P3-M3
Cycle time current regulator1) [μs] 62.5 125
Half end stage frequency1) active inactive active inactive
End stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 8 3.45 10 8
Maximum output current for maximum time
Maximum output current [Aeff ] 16 6.9 20 16
Max. time [s] 5 5 5 5
Maximum output current [Aeff ] 24 10.35 30 24
Max. time [s] 0.1 0.2 0.1 0.1
Maximum output current [Aeff ] 32 13.8 40 32
Max. time [s] 0.07 0.15 0.07 0.07
1) Option with FCT able to be parametrised
Tab. A.14 Output data CMMP-AS-C10-11A-P3-M3 with electrical rotation frequency ≤ 5 Hz
A Technical appendix
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 61
CMMP-AS-C10-11A-P3-M3
Cycle time current regulator1) [μs] 62.5 125
Half end stage frequency1) active inactive active inactive
End stage frequency [kHz] 8 16 4 8
Nominal output current [Aeff ] 8 3.45 10 8
Maximum output current for maximum time
Maximum output current [Aeff ] 16 6.9 20 16
Max. time [s] 5 5 5 5
Maximum output current [Aeff ] 24 10.35 30 24
Max. time [s] 2 2 2 2
Maximum output current [Aeff ] 32 13.8 40 32
Max. time [s] 0.5 0.5 0.5 0.5
1) Option with FCT able to be parametrised
Tab. A.15 Output data CMMP-AS-C10-11A-P3-M3 with electrical rotation frequency ≥ 20 Hz
A.1.1 Interfaces
I/O interface [X1]
Digital inputs/outputs Values Comment
Inputs
DIN0 … DIN9
Input voltage [V] 24 Active high, conforming to
EN 61131-2Voltage range [V] 8 … 30
Outputs
DOUT 0 …
DOUT3
Output voltage [V] 24 Active high, galvanically
separatedVoltage range1) [V] 8 … 30
+24 V Output voltage [V] 24
Maximum output cur-
rent
[mA] 100
GND24 Voltage [V] 0 Reference potential for digital I/Os
1) With use as digital input (configuration with FCT)
Tab. A.16 Technical data: digital inputs/outputs [X1]
A Technical appendix
62 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Analogue inputs/outputs Values Comment
AIN0
#AINO
Input section [V] ±10 differential –
Resolution Bit 16
Time delay [μs] < 250
Max. input
voltage
[V] 30
RI [kΩ] 30
AIN1 Input section [V] ±10 single-ended This input can be optionally para-
metrised also as a digital input
DIN12 with an 8 V trigger level.1)Resolution Bit 10
Time delay [μs] < 250
AIN2 Input section [V] ±10 single-ended This input can be optionally para-
metrised also as a digital input
DIN13 with an 8 V trigger level.1)Resolution [Bit] 10
Time delay [μs] < 250
AMON0,
AMON1
Output section [V] ±10 –
Resolution [Bit] 9
Critical frequency [kHz] 1
OGND Voltage [V] 0 Reference potential
+VREF Output section [V] 0 … 10 Reference output for setpoint
potentiometer
1) Configuration using FCT
Tab. A.17 Technical data: analogue inputs/outputs [X1]
Resolver connection [X2A]
Resolver connection Values Significance
S1
S3
Input voltage [Veff ] 3.5 COSINE+
COSINE-Input frequency [kHz] 5 … 10
Internal resistance Ri: [kΩ] > 5
S2
S4
Input voltage [Veff ] 3.5 SINE+
SINE-Input frequency [kHz] 5 … 10
Internal resistance Ri: [kΩ] > 5
R1 Voltage [Veff ] 7 Carrier signal
Frequency [kHz) 5 … 10
Output current [mAeff ] IA < 150
R2 GND
MT+
MT-
Voltage [V] + 3.3 Motor temperature sensor, N/C
contact, PTC, KTY…
Reference potential for temperature
sensor
Internal resistance Ri: [kΩ] 2
Tab. A.18 Technical data: resolver [X2A]
A Technical appendix
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 63
Parameters Values
Transmission ratio 0.5
Carrier frequency [kHz] 5 … 10
Excitation voltage [Veff ] 7, short circuit proof
Excitation impedance (at 10
kHz)
[Ω] ≥ (20 + j20)
Stator impedance [Ω] ≤ (500 + j1000)
Tab. A.19 Technical data: resolver [X2A]
Parameters Values
Resolution [Bit] 16
Signal detection time delay [μs] < 200
Speed resolution [min-1] Approx. 4
Absolute accuracy of angle
acquisition
['] < 5
Max. rotational speed [min-1] 16000
Tab. A.20 Technical data: resolver [X2A]
Encoder connection [X2B]
Parameters Value Comment
Encoder line count [Lines/R] 1 … 262144 Can be parameterised
Angular
resolution/Interpolation
[Bit/period] 10
Tracking signals
A, B [Vss] 1 differential; 2.5 V offset
N [Vss] 0.2 … 1 differential; 2.5 V offset
Commutator tracks A1, B1
(optional)
[Vss] 1 differential; 2.5 V offset
Track signal input impedance [Ω] 120 Differential input
Critical frequency fCrit
High-resolution track [kHz] >300
Commutation track [kHz] Approx. 10
Additional communication
interface
EnDat (Heidenhain) and HIPERFACE (Stegmann)
Output supply Current-limited, regulation via sensor cable
Voltage [V] 5 or 12 Switchable via software
Current [mA] max. 300
Tab. A.21 Technical data: encoder connection [X2B]
A Technical appendix
64 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
CAN bus [X4]
Communication interface Values
CANopen controller ISODIS 11898, Full CAN controller, max. 1M Baud
CANopen protocol in accordance with CiA301 and CiA402
Tab. A.22 Technical data: CAN bus [X4]
Increment encoder input [X10]
Characteristic Value Comment
Number of lines [Lines/R] 1 … 228 Can be parameterised
Track signals
A, A#,B, B#, N, N#
in accordance with RS422 specification
Maximum input frequency [kHz] 1000
Pulse direction interface
CLK, CLK#, DIR, DIR#, RESET,
RESET#
in accordance with RS422 specification
Output
Voltage [V] 5
Current [mA] max. 100
Tab. A.23 Technical data: incremental encoder input [X10]
Incremental encoder output [X11]
Characteristic Value Comment
Number of output lines [Lines/R] 1 … 8192, 16384
Connection level Differential in accordance with RS422
specification
Track signals
A, B, N
In accordance with
RS422 specification
N track can be
switched off
Output impedance Ro,diff [Ω] 66
Critical frequency fCrit [MHz] > 1.8 Lines/s
Output supply
Voltage [V] 5
Current [mA] max. 100
Tab. A.24 Technical data: incremental encoder output [X11]
A Technical appendix
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 65
A.2 Technical data CAMC-…
CAMC- D-E8A8 PB EC DN
Storage temperature [°C] -25 … +75
Operating temperature [°C] 0 … +50
Air humidity, non-condensing [%] 0 … 90
Permissible setup altitude
above sea level
[m] ≤ 2000
Dimensions (LxWxH) [mm] 87x65x19 92x65x19 87x65x19
Weight [g] 50 55 50
Tab. A.25 CAMC-… ambient conditions, dimensions and weight
CAMC-D-E8A8 – Digital inputs
Number of inputs 8
Nominal voltage [V DC] 24
Voltage range [V DC] -30 … +30
Detection “high” [V DC] > 8
Detection “low” [V DC] < 2
Hysteresis [V DC] > 1
Input impedance [kΩ] ≥ 4.7
Polarity protection up to [V DC] -30
Switching delay up to Portpin
(low-high transition)
[μs] < 100
Tab. A.26 CAMC-D-E8A8 – Digital inputs
CAMC-D-E8A8 – Digital outputs
Number of outputs 8
Switch type High-side switch
Nominal voltage [V DC] 24
Voltage range [V DC] +18 … +30
Nominal output current [mA] 100
Voltage loss at nominal output
current
[V DC] ≤ 1
Residual current with switch
OFF
[μA] < 100
Short circuit/overcurrent pro-
tection approx.
[mA] > 500
Switch-off temperature [°C] > 150
Switching delay up to Portpin
(low-high transition)
[μs] < 100
Tab. A.27 CAMC-D-E8A8 – Digital outputs
A Technical appendix
66 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
A.3 Supported encoders
Resolver
Type Protocol Interface Comment
Standard – [X2A] Transmission ratio 0.5
±10%, excitation voltage
7 Vrms
Tab. A.28 Supported resolvers
Digital encoders
Type Protocol Interface Comment
Yaskawa
∑-encoder
Yaskawa OEM-protocol [X2B] Yaskawa Sigma-1 Type A
Tab. A.29 Supported digital encoders
Analogue encoders
Type Protocol Interface Comment
ROD 400
ERO 1200, 1300,
1400
ERN 100, 400,
1100, 1300
– [X2B] Heidenhain, encoder
with zero impulse and
reference signal
Tab. A.30 Supported analogue encoders
EnDat encoders
Type Protocol Interface Comment
ROC 400
ECI 1100, 1300
ECN 100, 400,
1100, 1300
EnDat 2.1 (01/21)
EnDat 2.2 (22)
[X2B] Heidenhain single-turn
absolute encoder with/
without analogue signal
ROQ 400
EQI 1100, 1300
EQN 100, 400,
1100, 1300
EnDat 2.1 (01/21)
EnDat 2.2 (22)
[X2B] Heidenhain multi-turn
absolute encoder with/
without analogue signal
LC 100, 400 EnDat 2.1 (01)
EnDat 2.2 (22)
[X2B] Heidenhain absolute
length measurement
equipment
Tab. A.31 Supported EnDat encoders
A Technical appendix
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 67
HIPERFACE encoders
Type Protocol Interface Comment
SCS60, 70
SCM60, 70
HIPERFACE [X2B] Stegmann single-/multi-
turn encoder with ana-
logue incremental signal
sine/cosine periods 512.
Max. revolutions multi-
turn: ±2048 R
SRS 50, 60, 64
SCKxx
SRM 50, 60, 64
SCLxx
HIPERFACE [X2B] Stegmann single-/multi-
turn encoder with ana-
logue incremental sig-
nals.
Sine/cosine periods
1024. Max. revolutions
multi-turn: ±2048 R
SKS36
SKM36
HIPERFACE [X2B] Stegmann single-/multi-
turn encoder with ana-
logue incremental sig-
nals.
Sine/cosine periods 128.
Max. revolutions multi-
turn: ±2048 R
SEK37, 52
SEL37, 52
HIPERFACE [X2B] Stegmann single-/multi-
turn encoder with ana-
logue incremental sig-
nals.
Sine/cosine periods 16.
Max. revolutions multi-
turn: ±2048 R
L230 HIPERFACE [X2B] Stegmann absolute lin-
ear encoder with ana-
logue incremental signal
measurement step:
156.25 μm. Measuring
length max. approx.
40 m.
Tab. A.32 Supported HIPERFACE encoders
A Technical appendix
68 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
A.4 Components of the USB driver
The FCT installation package contains the following components of the USB driver:
– The “WinUSB co installer”, in order to install WinUSB on the target system, if necessary. The Win-
dows Driver Kit (WDK) contains separate DLLs (WinUSBCoInstaller.dll) for x86 and x64 systems.
– The KMDF (WDF kernel-mode driver framework) co installer, in order to install the correct version of
the KMDF on the target system, if necessary.
– A Festo-specific INF-file in order to install the “WinUsb.sys” as a device function driver with the
following specific entries:
– DEVICEMANAGERCATEGORY =WinUSB devices (group in the Device Manager)
– DeviceDesc = “<DEVICE_TYPE>” (Device designation under the group in the Device Manager)
ProviderName=“Festo AG & Co. KG”
– A signed “catalog file” in order to be able to install on x64 systems.
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 69
B Diagnostic messages
If an error occurs, the motor controller CMMP-AS-...-M3 shows a diagnostic message cyclically in the
seven-segment display of the motor controller CMMP-AS-...-M3. An error message consists of an E (for
Error), a main index and sub-index, e.g.: E 0 1 0.
Warnings have the same number as an error message. In contrast to error messages, however, warn-
ings are preceded and followed by hyphens, e.g. - 1 7 0 -.
The following table summarises the significance of the diagnostic messages and the actions to be
taken in response to them:
Column Significance
Code The Code column includes the error code (Hex) via CiA 402.
No. Main index and sub-index of the diagnostic message.
Message Message that is displayed in the FCT.
Cause Possible causes for the message.
Action Action by the user.
Reaction The Reaction column includes the error response (default setting, partially
configurable):
– PS off (switch off output stage),
– MCStop (fast stop with maximum current),
– QStop (fast stop with parametrised ramp),
– Warn (Warning),
– Entry (Entry in diagnostic memory)
– Ignore (Ignore),
Tab. B.1 Explanations on the table “Diagnostic messages of the CMMP-AS-...-M3”
The Reaction column includes the error responses of the default parameter set.
After configuration of the motor controller with FCT, the standard values defined in the
FCT or the self-configured reactions apply.
B Diagnostic messages
70 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. Message Causes Actions Reaction
00-0 Invalid error Information: An invalid error
entry (corrupted) was found
in the diagnostic memory
marked with this error num-
ber.
The system time entry is set
to “0”.
– Entry
00-1 Invalid error de-
tected and cor-
rected
Information: An invalid error
entry (corrupted) was found
in the diagnostic memory and
corrected. The supplemental
information contains the ori-
ginal error number.
The system time entry con-
tains the address of the cor-
rupted error number.
– Entry
00-2 Error deleted Information: Active errors
were acknowledged.
– Entry
01-0 Stack overflow Incorrect firmware?
Sporadic high processor load
due to cycle time being too
short and special compute-
bound processes (save para-
meter set, etc.).
• Load an approved firm-
ware.
• Reduce the processor
load.
• Contact Technical Sup-
port.
PS off
02-0 Undervoltage in
intermediate cir-
cuit
Intermediate circuit voltage
falls below the parametrised
threshold. 1)
Error priority set too high?
• Quick discharge due to
switched-off mains supply.
• Check power supply.
• Couple intermediate cir-
cuits if technically per-
missible.
• Check intermediate circuit
voltage (measure).
Config-
urable
1) Supplemental information in PNU 203/213:
Top 16 bits: Status number of internal state machine
Bottom 16 bits: Intermediate circuit voltage (internal scaling approx. 17.1 digit/V).
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 71
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
03-0 Analogue motor
overtemperature
Motor overloaded, temperat-
ure too high.
– Suitable sensor or sensor
characteristics paramet-
rised?
– Sensor defective?
If there is overloading:
• Check parametrisation
(current regulator, current
limits).
• Check the parametrisa-
tion of the sensor or the
sensor characteristics.
If the error persists when the
sensor is bypassed: device
defective.
QStop
03-1 Digital motor
overtemperature
Motor overloaded, temperat-
ure too high.
– Suitable sensor or sensor
characteristics paramet-
rised?
– Sensor defective?
If there is overloading:
• Check parametrisation
(current regulator, current
limits).
• Check the parametrisa-
tion of the sensor or the
sensor characteristics.
If the error persists when the
sensor is bypassed: device
defective.
Config-
urable
03-2 Analogue motor
overtemperature:
broken wire
The measured resistance
value is above the threshold
for wire break detection.
• Check the connecting
cables of the temperature
sensor for wire breaks.
• Check the parametrisa-
tion (threshold value) for
wire break detection.
Config-
urable
03-3 Analogue motor
overtemperature:
short circuit
The measured resistance
value is below the threshold
for short circuit detection.
• Check the connecting
cables of the temperature
sensor for wire breaks.
• Check the parametrisa-
tion (threshold value) for
short circuit detection.
Config-
urable
04-0 Power section
over-temperature
Device is overheated
– Temperature display
plausible?
– Device fan defective?
– Device overloaded?
• Check installation condi-
tions; are the control cab-
inet fan filters dirty?
• Check the drive layout
(due to possible overload-
ing in continuous duty).
Config-
urable
B Diagnostic messages
72 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
04-1 Intermediate cir-
cuit overtemper-
ature
Device is overheated
– Temperature display
plausible?
– Device fan defective?
– Device overloaded?
• Check installation condi-
tions; are the control cab-
inet fan filters dirty?
• Check the drive layout
(due to possible overload-
ing in continuous duty).
Config-
urable
05-5 Voltage failure in-
terface Ext1/Ext2
Defect on the plugged-in in-
terface
Interface replacement Re-
pair by the manufacturer.
PS off
05-6 Voltage failure
[X10], [X11]
Overloading through connec-
ted peripherals
• Pin allocation of the con-
nected periphery.
• Short circuit?
PS off
05-7 Safety module in-
ternal voltage
failure
Defect on the safety module Interface replacement Re-
pair by the manufacturer.
PS off
05-8 Failure of internal
voltage 3
Defect in the motor controller Internal defect Repair by
the manufacturer.
PS off
05-9 Encoder supply
defective
Back measurement of the en-
coder voltage not OK.
Internal defect Repair by
the manufacturer.
PS off
05-0 Failure of internal
voltage 1
Monitoring of the internal
power supply has detected
undervoltage. Either an in-
ternal defect or overload/
short circuit from connected
peripherals.
• Separate device from the
entire peripheral equip-
ment and check whether
the error is still present
after reset. If yes, then
there is an internal defect
Repair by the manufac-
turer.
PS off
05-1 Failure of internal
voltage 2
Monitoring of the internal
power supply has detected
undervoltage. Either an in-
ternal defect or overload/
short circuit from connected
peripherals.
• Separate device from the
entire peripheral equip-
ment and check whether
the error is still present
after reset. If yes, then
there is an internal defect
Repair by the manufac-
turer.
PS off
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 73
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
05-2 Failure of driver
supply
Monitoring of the internal
power supply has detected
undervoltage. Either an in-
ternal defect or overload/
short circuit from connected
peripherals.
• Separate device from the
entire peripheral equip-
ment and check whether
the error is still present
after reset. If yes, then
there is an internal defect
Repair by the manufac-
turer.
PS off
05-3 Undervoltage dig.
I/O
Defective peripheral equip-
ment?
• Check connected peri-
pherals for short circuit /
rated loads.
• Check connection of the
brake (connected incor-
rectly?).
PS off
05-4 Overcurrent dig.
I/O
Defective peripheral equip-
ment?
• Check connected peri-
pherals for short circuit /
rated loads.
• Check connection of the
brake (connected incor-
rectly?).
PS off
B Diagnostic messages
74 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
06-0 Short circuit in
output stage
– Faulty motor, e.g. winding
short circuit due to motor
overheating or short to PE
inside motor.
– Short circuit in the cable
or the connecting plugs,
i.e. short circuit between
motor phases or to the
screening/PE.
– Output stage defective
(short circuit).
– Incorrect parametrisation
of the current regulator.
Dependent on the status of
the system
footnote 2), cases a) … f )
PS off
06-1 Overload current
brake chopper
Overload current at the brake
chopper output.
• Check external braking
resistor for short circuit or
insufficient resistance
value.
• Check circuitry of the
brake chopper output at
the motor controller
(bridge, etc.).
PS off
2) Actions:
Case a) Error only with active brake chopper: Check external braking resistor for short circuit or insufficient resistance value.
Check circuitry of the brake chopper output at the motor controller (bridge, etc.).
Case b) Error message immediately when the power supply is connected: internal short circuit in the output stage (short circuit
of a complete half-bridge). The motor controller can no longer be connected to the power supply; the internal (and possibly
external) fuses are tripped. Repair by the manufacturer is necessary.
Case c) Short circuit error message only when the output stage or controller enable is issued.
Case d) Disconnection of motor plug [X6] directly on the motor controller. If the error still occurs, there is a defect in the motor
controller. Repair by the manufacturer is necessary.
Case e) If the error only occurs when the motor cable is connected: check the motor and cable for short circuits, e.g. with a
multimeter.
Case f ) Check parametrisation of the current regulator. Oscillations in an incorrectly parametrised current regulator can generate
currents up to the short circuit threshold, usually clearly audible as a high-frequency whistling. Verification, if necessary, with the
trace in the FCT (actual active current value).
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 75
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
07-0 Overvoltage in
the intermediate
circuit
Braking resistor is over-
loaded; too much braking en-
ergy which cannot be dissip-
ated quickly enough.
– Resistor incorrectly di-
mensioned?
– Resistor not connected
correctly?
• Check the design of the
braking resistor; resist-
ance value may be too
great.
• Check the connection to
the braking resistor (in-
ternal/external).
PS off
08-0 Resolver angular
encoder error
Resolver signal amplitude is
faulty
Step-by-step approach
footnote 3), a) … c):
Config-
urable
08-1 Unequal rotation-
al direction of in-
cremental posi-
tion sensing
Only encoder with serial posi-
tion transmission combined
with an analogue SIN/COS
signal track: The direction of
rotation of encoder-internal
position determination and
incremental evaluation of the
analogue track system in the
motor controller are the
wrong way around.
Footnote 4)
• Swap the following sig-
nals on the [X2B] angle
encoder interface (the
wires in the connecting
plug must be changed
around), observing the
technical data for the
angle encoder where ap-
plicable:
– Swap SIN/COS track.
– Swap the SIN+/SIN- or
COS+/COS- signals, as ap-
plicable.
Config-
urable
3) a) If possible, test with a different (error-free) resolver (replace the connecting cable too). If the error still occurs, there is a
defect in the motor controller. Repair by manufacturer required.
b) If the error occurs only with a special resolver and its connecting cable: Check resolver signals (carrier and SIN/COS signal),
see specification. If the signal specification is not maintained, the resolver must be replaced.
c) If the error recurs sporadically, check the screening connection or check whether the resolver simply has an insufficient
transmission ratio (standard resolver: A = 0.5).
4) The encoder counts internally, for example positively in clockwise rotation while the incremental evaluation counts in negative
direction with the same mechanical rotation. The interchange of the rotational direction is detected mechanically at the first
movement of over 30° and the error is triggered.
B Diagnostic messages
76 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
08-2 Error in incre-
mental encoder
tracking signal Z0
Signal amplitude of the Z0
track at [X2B] is faulty.
– Angle encoder connected?
– Angle encoder cable de-
fective?
– Angle encoder defective?
Check configuration of angle
encoder interface:
a) Z0 evaluation activated,
but no track signals con-
nected or on hand. 5)
b) Encoder signals faulty?
c) Test with another en-
coder.
Tab. B.3, Page 110.
Config-
urable
08-3 Error in incre-
mental encoder
track signals Z1
Signal amplitude of the Z1
track at X2B is faulty.
– Angle encoder connected?
– Angle encoder cable de-
fective?
– Angle encoder defective?
Check configuration of angle
encoder interface:
a) Z1 evaluation activated
but not connected.
b) Encoder signals faulty?
c) Test with another en-
coder.
Tab. B.3, Page 110.
Config-
urable
08-4 Digital increment-
al encoder track
signals error
[X2B]
Faulty A, B, or N track signals
at [X2B].
– Angle encoder connected?
– Angle encoder cable de-
fective?
– Angle encoder defective?
Check the configuration of
the angle encoder interface.
Proceed according to a) and
b):
a) Encoder signals faulty?
b) Test with another en-
coder.
Tab. B.3, Page 110.
Config-
urable
08-5 Error in incre-
mental encoder
of Hall encoder
signals
Hall encoder signals of a dig.
inc. at [X2B] faulty.
– Angle encoder connected?
– Angle encoder cable de-
fective?
– Angle encoder defective?
Check the configuration of
the angle encoder interface.
Proceed according to a) and
b):
a) Encoder signals faulty?
b) Test with another en-
coder.
Tab. B.3, Page 110.
Config-
urable
5) e.g. EnDat 2.2 or EnDat 2.1 without analogue track.
Heidenhain encoder: order codes EnDat 22 and EnDat 21. With these encoders, there are no incremental signals, even when the
cables are connected.
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 77
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
08-6 Angle encoder
communication
fault
Communication to serial
angle encoders is disrupted
(EnDat encoders, HIPERFACE
encoders, BiSS encoders).
– Angle encoder connected?
– Angle encoder cable de-
fective?
– Angle encoder defective?
Check configuration of the
angle generator interface:
procedure corresponding to
a) … c):
a) Serial encoder paramet-
rised but not connected?
Incorrect serial protocol
selected?
b) Encoder signals faulty?
c) Test with another en-
coder.
Tab. B.3, Page 110.
Config-
urable
08-7 Signal amplitude
of incremental
tracks faulty
[X10]
Faulty A, B, or N track signals
at [X10].
– Angle encoder connected?
– Angle encoder cable de-
fective?
– Angle encoder defective?
Check the configuration of
the angle encoder interface.
Proceed according to a) and
b):
a) Encoder signals faulty?
b) Test with another en-
coder.
Tab. B.3, Page 110.
Config-
urable
08-8 Internal angle en-
coder error
Internal monitoring of the
angle encoder [X2B] has de-
tected a fault and forwarded
it via serial communication.
– Declining illumination in-
tensity with visual en-
coders
– Excess rotational speed
– Angle encoder defective?
If the error occurs repeatedly,
the encoder is defective.
Replace encoder.
Config-
urable
B Diagnostic messages
78 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
08-9 Angle encoder at
[X2B] is not sup-
ported
Angle encoder type read at
[X2B], which is not supported
or cannot be used in the de-
sired operating mode.
– Incorrect or inappropriate
protocol type selected?
– Firmware does not sup-
port the connected en-
coder variant?
Depending on the additional
information of the error mes-
sage footnote 6):
• Load appropriate firm-
ware.
• Check/correct the config-
uration for encoder ana-
lysis.
• Connect an appropriate
encoder type.
Config-
urable
09-0 Old angle en-
coder parameter
set
Warning:
An encoder parameter set in
an old format was found in
the EEPROM of the connec-
ted encoder. This has been
converted and saved in the
new format.
No action necessary at this
point. The warning should not
re-appear when the 24V sup-
ply is switched back on.
Config-
urable
6) Additional information (PNU 203/213):
0001: HIPERFACE: encoder type is not supported by the firmware -> connect another encoder type or load more recent firmware,
if applicable.
0002: EnDat: The address space in which the encoder parameters would have to lie does not exist with the connected EnDat
encoder -> check the encoder type.
0003: EnDat: encoder type is not supported by the firmware -> connect another encoder type or load more recent firmware, if
applicable.
0004: EnDat: Encoder rating plate cannot be read from the connected encoder. -> Change encoder or load more recent firmware,
if applicable.
0005: EnDat: EnDat 2.2 interface parametrised, connected encoder supported but only EnDat2.1. -> Replace encoder type or
reparametrise to EnDat 2.1.
0006: EnDat: EnDat2.1 interface with analogue track evaluation parametrised, but according to rating plate the connected
encoder does not support track signals. -> Replace encoder or switch off Z0 track signal evaluation.
0007: Code length measuring system with EnDat2.1 connected, but parametrised as a purely serial encoder. Purely serial evalu-
ation is not possible due to the long response times of this encoder system. Encoder must be operated with analogue track
signal evaluation -> connect to analogue Z0 track signal evaluation.
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 79
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
09-1 Angle encoder
parameter set
cannot be de-
coded
Data in the EEPROM of the
angle encoder could not be
read completely, or access to
it was partly refused.
The EEPROM of the encoder
contains data (communica-
tion objects) which is not
supported by the loaded
firmware. The data in ques-
tion is then discarded.
• The parameter set can be
adapted to the current
firmware by writing the
encoder data to the en-
coder.
• Alternatively, load appro-
priate (more recent) firm-
ware.
Config-
urable
09-2 Unknown version
of angle encoder
parameter set
The data saved in EEPROM
are not compatible with the
current version. A data struc-
ture was found which is un-
able to decode the loaded
firmware.
• Save the encoder para-
meters again in order to
delete the parameter set
in the encoder and re-
place it with a readable
set (this will, however, de-
lete the data in the en-
coder irreversibly).
• Alternatively, load appro-
priate (more recent) firm-
ware.
Config-
urable
09-3 Defective data
structure in angle
encoder paramet-
er set
Data in EEPROM do not
match the stored data struc-
ture. The data structure was
identified as valid but may be
corrupted.
• Save the encoder para-
meters again in order to
delete the parameter set
in the encoder and re-
place it with a readable
set. If the error still occurs
after that, the encoder
may be faulty.
• Replace the encoder as a
test.
Config-
urable
B Diagnostic messages
80 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
09-4 EEPROM data: Er-
roneous custom
specific configur-
ation
Only for special motors:
The plausibility check returns
an error, e.g. because the
motor was repaired or re-
placed.
• If motor repaired: Carry
out homing again and
save in the angle encoder,
after that (!) save in the
motor controller.
• If motor replaced: Para-
metrise the controller
again, then carry out hom-
ing again and save in the
angle encoder, after that
(!) save in the motor con-
troller.
Config-
urable
09-7 Write-protected
angle encoder EE-
PROM
Data cannot be saved in the
EEPROM of the angle en-
coder.
Occurs with Hiperface en-
coders.
A data field in the encoder
EEPROM is read-only (e.g.
after operation on a motor
controller of another manu-
facturer). No solution pos-
sible, encoder memory must
be unlocked with an appro-
priate parametrisation tool
(from manufacturer).
Config-
urable
09-9 Angle encoder's
EEPROM too
small
It is not possible to save all
the data in the EEPROM of
the angle encoder.
• Reduce the number of
data records to be saved.
Please read the docu-
mentation or contact
Technical Support.
Config-
urable
10-0 Overspeed (spin-
ning protection)
– Motor has overrun be-
cause the commutation
angle offset is incorrect.
– Motor is parametrised
correctly but the limit for
spinning protection is set
too low.
• Check the commutation
angle offset.
• Check the limit value set-
ting in the parameters.
Config-
urable
11-0 Error when hom-
ing is started
Controller enable missing. Homing can only be started
when closed-loop controller
enable is active.
• Check the condition or se-
quence.
Config-
urable
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 81
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
11-1 Error during hom-
ing
Homing was interrupted, e.g.
by:
– Withdrawal of controller
enable.
– Reference switch is bey-
ond the limit switch.
– External stop signal (a
phase was aborted during
homing).
• Check homing sequence.
• Check arrangement of the
switches.
• If applicable, lock the
stop input during homing
if it is not desired.
Config-
urable
11-3 Homing: timeout The parametrised maximum
time for the homing run was
exceeded before the homing
run was completed.
• Check the time setting in
the parameters.
Config-
urable
11-4 Homing: wrong /
invalid limit
switch
– Relevant limit switch not
connected.
– Limit switches swapped?
– No reference switch found
between the two limit
switches.
– Reference switch is at the
limit switch.
– Method “current position
with zero impulse”: limit
switch active in the area
of the zero pulse (not per-
missible).
– Both limit switches active
at the same time.
• Check whether the limit
switches are connected in
the correct direction of
travel or whether the limit
switches have an effect
on the intended inputs.
• Reference switch connec-
ted?
• Check arrangement of the
reference switch.
• Move the limit switch so
that it is not in the area of
the zero pulse.
• Check limit switch para-
metrisation (N/C contact/
N/O contact).
Config-
urable
B Diagnostic messages
82 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
11-5 Homing: It / fol-
lowing error
– Acceleration ramps inap-
propriately parametrised.
– Reversing due to prema-
ture triggering of follow-
ing error; check paramet-
risation of following error.
– No reference switch
reached between the end
stops.
– Zero pulse method: end
stop reached (here not
permissible).
• Parametrise the accelera-
tion ramps to make them
flatter.
• Check connection of a ref-
erence switch.
• Method appropriate for
the application?
Config-
urable
11-6 Homing: End of
search path
The maximum permissible
path for the homing run has
been travelled without reach-
ing the reference point or the
homing target.
Malfunction in switch detec-
tion.
• Switch for homing is de-
fective?
Config-
urable
11-7 Homing: error in
encoder differ-
ence monitoring
Deviation between the actual
position value and commuta-
tion position is too great. Ex-
ternal angle encoder not con-
nected or defective?
• Deviation fluctuates, e.g.
due to gear backlash; cut-
off threshold may need to
be increased.
• Check connection of the
actual value encoder.
Config-
urable
12-0 CAN: double
node number
Node number assigned twice. • Check the configuration of
the CAN bus stations
Config-
urable
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 83
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
12-1 CAN: Communic-
ation error, bus
OFF
The CAN chip has switched
off communication due to
communication errors (BUS
OFF).
• Check cabling:
cable specification ad-
hered to, cable break,
maximum cable length ex-
ceeded, correct terminat-
ing resistors, cable
screening earthed, all sig-
nals connected?
• Replace device on a test
basis. If a different device
works without errors with
the same cabling, send
the device to the manu-
facturer for checking.
Config-
urable
12-2 CAN: communica-
tion error during
transmission
The signals are corrupted
when transmitting messages.
Device boot up is so fast that
no other nodes on the bus
have yet been detected when
the boot-up message is sent.
• Check cabling:
cable specification ad-
hered to, cable break,
maximum cable length ex-
ceeded, correct terminat-
ing resistors, cable
screening earthed, all sig-
nals connected?
• Replace device on a test
basis. If a different device
works without errors with
the same cabling, send
the device to the manu-
facturer for checking.
• Check the start sequence
of the application.
Config-
urable
B Diagnostic messages
84 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
12-3 CAN: communica-
tion error during
reception
The signals are corrupted
when receiving messages.
• Check cabling:
cable specification ad-
hered to, cable break,
maximum cable length ex-
ceeded, correct terminat-
ing resistors, cable
screening earthed, all sig-
nals connected?
• Replace device on a test
basis. If a different device
works without errors with
the same cabling, send
the device to the manu-
facturer for checking.
Config-
urable
12-4 CAN: node guard-
ing
Node guarding telegram not
received within the paramet-
rised time.
Signals corrupted?
• Compare the cycle time of
the remote frames with
that of the controller
• Check: failure of the con-
troller?
Config-
urable
12-5 CAN: RPDO too
short
A received RPDO does not
contain the parametrised
number of bytes.
The number of parametrised
bytes does not match the
number of bytes received.
• Check the parametrisa-
tion and correct.
Config-
urable
12-9 CAN: Protocol er-
ror
Faulty bus protocol. • Check the parametrisa-
tion of the selected CAN
bus protocol.
Config-
urable
13-0 CAN bus timeout Error message from manufac-
turer-specific protocol.
• Check the CAN paramet-
risation
Config-
urable
14-0 Insufficient
power supply for
identification
Current regulator parameters
cannot be determined (be-
cause of insufficient supply).
The available intermediate
circuit voltage is too low to
carry out the measurement.
PS off
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 85
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
14-1 Identification of
current regulator:
measurement
cycle insufficient
Too few or too many meas-
urement cycles required for
the connected motor.
Automatic determination of
parameters has supplied a
time constant outside the
parametrisable value range.
• The parameters must be
manually optimised.
PS off
14-2 Output stage en-
able could not be
issued
Output stage enable has not
been issued.
• Check the connection of
DIN4.
PS off
14-3 Output stage was
switched off early
Power stage enable was
switched off while identifica-
tion was in progress.
• Check the sequence con-
trol.
PS off
14-5 Zero pulse could
not be found
The zero pulse could not be
found following execution of
the maximum permissible
number of electrical revolu-
tions.
• Check zero pulse signal.
• Angle encoder paramet-
rised correctly?
PS off
14-6 Hall signals
invalid
Hall signals faulty or invalid.
The pulse train or segmenting
of the Hall signals is inappro-
priate.
• Check connection.
Refer to the technical
data to check whether the
encoder shows three Hall
signals with 120° or 60°
segments; if necessary,
contact Technical Sup-
port.
PS off
14-7 Identification not
possible
Angle encoder at a standstill. • Ensure sufficient interme-
diate circuit voltage.
• Encoder cable connected
to the correct motor?
• Motor blocked, e.g. hold-
ing brake does not re-
lease?
PS off
14-8 Invalid number of
pairs of poles
The calculated number of
pole pairs lies outside the
parametrisable range.
• Compare result with the
technical data specifica-
tions of the motor.
• Check the parametrised
number of lines.
PS off
B Diagnostic messages
86 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
15-0 Division by 0 Internal firmware error.
Division by 0 when using the
Math Library.
• Load factory settings.
• Check the firmware to
make sure that approved
firmware has been
loaded.
PS off
15-1 Range exceeded Internal firmware error.
Overflow when using the
Math Library.
• Load factory settings.
• Check the firmware to
make sure that approved
firmware has been
loaded.
PS off
15-2 Counter underrun Internal firmware error.
Internal correction factors
could not be calculated.
• Check the setting of the
factor group for extreme
values and change if ne-
cessary.
PS off
16-0 Error in program
execution
Internal firmware error.
Error during program execu-
tion. Illegal CPU command
found in the program se-
quence.
• In case of repetition, load
firmware again. If the er-
ror occurs repeatedly, the
hardware is defective.
PS off
16-1 Illegal interrupt Error during program execu-
tion. An unused IRQ vector
was used by the CPU.
• In case of repetition, load
firmware again. If the er-
ror occurs repeatedly, the
hardware is defective.
PS off
16-2 Initialisation error Internal firmware error. • In case of repetition, load
firmware again. If the er-
ror occurs repeatedly, the
hardware is defective.
PS off
16-3 Unexpected
status
Error during periphery access
within the CPU or error in the
program sequence (illegal
branching in case structures).
• In case of repetition, load
firmware again. If the er-
ror occurs repeatedly, the
hardware is defective.
PS off
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 87
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
17-0 Contouring error
limit value ex-
ceeded
Comparison threshold for the
limit value of the contouring
error exceeded.
• Enlarge error window.
• Acceleration paramet-
rised too large.
• Motor overloaded (cur-
rent limitation from it
monitoring is active?).
Config-
urable
17-1 Encoder differ-
ence monitoring
Deviation between the actual
position value and commuta-
tion position is too great.
External angle encoder not
connected or defective?
• Deviation fluctuates, e.g.
due to gear backlash; cut-
off threshold may need to
be increased.
• Check connection of the
actual value encoder.
Config-
urable
18-0 Analogue motor
temperature
Motor temperature (ana-
logue) greater than 5° below
T_max.
• Check parametrisation of
current regulator and/or
speed regulator.
• Motor permanently over-
loaded?
Config-
urable
21-0 Error 1 current
measurement U
Offset for current measure-
ment 1 phase U is too great.
The closed-loop controller
carries out offset compensa-
tion of the current measure-
ment every time its controller
enable is issued. Tolerances
that are too large result in an
error.
If the error occurs repeatedly,
the hardware is defective.
PS off
21-1 Error 1 current
measurement V
Offset for current measure-
ment 1 phase V is too great.
If the error occurs repeatedly,
the hardware is defective.
PS off
21-2 Error 2 current
measurement U
Offset for current measure-
ment 2 phase U is too great.
If the error occurs repeatedly,
the hardware is defective.
PS off
21-3 Error 2 current
measurement V
Offset for current measure-
ment 2 phase V is too great.
If the error occurs repeatedly,
the hardware is defective.
PS off
22-0 PROFIBUS: de-
fective initialisa-
tion
Faulty initialisation of the
PROFIBUS interface. Inter-
face defective?
• Replace interface. Repair
by the manufacturer may
be an option.
Config-
urable
22-2 Communication
error PROFIBUS
Errors in communication. • Check the set slave ad-
dress.
• Check bus termination.
• Check wiring.
Config-
urable
B Diagnostic messages
88 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
22-3 PROFIBUS: inval-
id slave address
Communication was started
with slave address 126.
• Select a different slave
address.
Config-
urable
22-4 PROFIBUS: value
range error
During conversion with the
factor group, the value range
was exceeded.
Mathematical error in the
conversion of the physical
units.
The value ranges of the data
and the physical units do not
match.
• Check and correct.
Config-
urable
25-0 Invalid device
type
Device coding not recognised
or invalid
The error cannot be rectified
automatically.
• Send motor controller to
the manufacturer.
PS off
25-1 Device type not
supported
Device coding valid, but not
supported by the loaded
firmware.
• Load up-to-date firmware.
• If newer firmware is not
available, the problem
may be a hardware de-
fect. Send motor control-
ler to the manufacturer.
PS off
25-2 Hardware revi-
sion not suppor-
ted
The controller's hardware
version is not supported by
the loaded firmware.
• Check the firmware ver-
sion; update the firmware
to a more recent version if
necessary.
PS off
25-3 Device function
restricted!
Device is not enabled for this
function
Device is not enabled for the
desired functionality and may
need to be enabled by the
manufacturer. The device
must be sent to Festo for this
purpose.
PS off
25-4 Invalid power
stage type
– Power sub-section in the
EEPROM is unpro-
grammed
– Power sub-section is not
supported by the firm-
ware
Load appropriate firmware. PS off
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 89
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
26-0 Missing user
parameter set
No valid user parameter set
in the flash memory
• Load factory settings.
If the error remains, the hard-
ware may be defective.
PS off
26-1 Checksum error Checksum error of a paramet-
er set
• Load factory settings.
If the error remains, the hard-
ware may be defective.
PS off
26-2 Flash:
Write error
Error when writing the intern-
al flash memory
• Execute the last operation
again.
If the error occurs again, the
hardware may be faulty.
PS off
26-3 Flash:
Error during dele-
tion
Error during deletion of the
internal flash memory
• Execute the last operation
again.
If the error occurs again, the
hardware may be faulty.
PS off
26-4 Flash:
Internal flash er-
ror
The default parameter set is
corrupted / data error in the
FLASH area where the de-
fault parameter set is loc-
ated.
• Load firmware again.
If the error occurs again, the
hardware may be faulty.
PS off
26-5 Missing calibra-
tion data
Factory-set calibration para-
meters incomplete/corrup-
ted.
The error cannot be rectified
automatically.
PS off
26-6 Missing user pos-
ition data records
Position data records incom-
plete or corrupt.
• Load factory settings or
• save the current paramet-
ers again so that the posi-
tion data is written again.
PS off
26-7 Error in the data
tables (CAM)
Data for the cam disc is cor-
rupted.
• Load factory settings
• Reload the parameter set
if necessary.
If the error persists, contact
Technical Support.
PS off
B Diagnostic messages
90 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
27-0 Following error
warning
threshold
Motor overloaded? Check
motor capacity.
Acceleration or braking
ramps are set too steep.
Motor blocked? Commutation
angle correct?
• Check the parametrisa-
tion of the motor data.
• Check parametrisation of
the following error.
Config-
urable
28-0 Hours-run meter
missing
No record for an hours-run
meter could be found in the
parameter block. A new
hours-run meter has been
created. Occurs during initial
start-up or a processor
change.
Warning only, no further ac-
tion required.
Config-
urable
28-1 Hours-run meter:
write error
The data block in which the
hours-run meter is stored
could not be written to.
Cause unknown; possibly
problems with the hardware.
Warning only, no further ac-
tion required.
If the error occurs again, the
hardware may be faulty.
Config-
urable
28-2 Hours-run meter
corrected
The hours-run meter has a
backup copy. If the control-
ler's 24V power supply fails
precisely when the hours-run
meter is being updated, the
written record may be corrup-
ted. In such cases, the con-
troller restores the hours-run
meter from the intact backup
copy when it switches back
on.
Warning only, no further ac-
tion required.
Config-
urable
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 91
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
28-3 Hours-run meter
converted
Firmware was loaded in
which the hours-run meter
has a different data format.
The next time the controller is
switched on, the old hours-
run meter record is converted
to the new format.
Warning only, no further ac-
tion required.
Config-
urable
29-0 MMC/SD card not
available
This error is triggered when
an action should be carried
out on the memory card (load
or create DCO file, firmware
download), but no memory
card is plugged in.
Insert appropriate memory
card in the slot.
Only if expressly desired!
Config-
urable
29-1 MMC/SD card:
initialisation error
This error is triggered in the
following cases:
– The memory card could
not be initialised. Card
type may not be suppor-
ted!
– File system not supported
– Error in connection with
the shared memory
• Check card type used.
• Connect memory card to a
PC and format again.
Config-
urable
B Diagnostic messages
92 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
29-2 MMC/SD card:
parameter set
error
This error is triggered in the
following cases:
– A load or storage process
is already running, but a
new load or storage pro-
cess is requested.
DCO file >> Servo
– The DCO file to be loaded
has not been found.
– The DCO file to be loaded
is not suitable for the
device.
– The DCO file to be loaded
is defective.
Servo >> DCO file
– The memory card is write
protected.
– Other error while saving
the parameter set as a
DCO file.
– Error in creating the file
“INFO.TXT”
• Execute load or storage
process again after wait-
ing 5 seconds.
• Connect memory card to a
PC and check the files in-
cluded.
• Remove write protection
from the memory card.
Config-
urable
29-3 MMC/SD card full – This error is triggered
while saving the DCO or
“INFO.TXT” file if the
memory card is dis-
covered to be already full.
– The maximum file index
(99) already exists. That
is, all file indexes are as-
signed. No filename can
be issued!
• Insert another memory
card.
• Change filenames.
Config-
urable
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 93
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
29-4 MMC/SD card:
firmware down-
load
This error is triggered in the
following cases:
– No firmware file on the
memory card
– The firmware file is not
appropriate for the
device.
– Other error during firm-
ware download, e.g.
checksum error with an
SRecord, error with flash
memory, etc.
• Connect memory card to
PC and transfer firmware
file.
Config-
urable
30-0 Internal mathem-
atical error
Range exceeded for internal
scaling factors, which are de-
pendent on the parametrised
controller cycle times.
• Check whether extremely
short or extremely long
cycle times were paramet-
rised.
PS off
31-0 Motor It – Motor blocked?
– Motor under-sized?
• Check power dimension-
ing of drive package.
Config-
urable
31-1 Servo controller
It
The It monitoring is respond-
ing frequently.
– Motor controller does not
have the required capa-
city?
– Mechanics sluggish?
• Check project engineering
of the motor controller,
• possibly use a more
powerful type.
• Check the mechanical sys-
tem.
Config-
urable
31-2 PFC It PFC power rating exceeded. • Parametrise operation
without PFC (FCT).
Config-
urable
31-3 Braking resistor
It
– Overloading of the intern-
al braking resistor.
• Use external braking res-
istor.
• Reduce resistance value
or use resistor with higher
pulse load.
Config-
urable
B Diagnostic messages
94 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
32-0 Intermediate cir-
cuit charging time
exceeded
The intermediate circuit
could not be charged after
the mains voltage was ap-
plied.
– Fuse possibly defective or
– Internal braking resistor
defective or
– In operation with external
resistor, the resistor is not
connected.
• Check interface to the ex-
ternal braking resistor.
• Alternatively, check
whether the jumper for
the internal braking resist-
or is in place.
If the interface is correct, the
internal braking resistor or
the built-in fuse is probably
faulty. On-site repair is not
possible.
Config-
urable
32-1 Undervoltage for
active PFC
The PFC cannot be activated
at all until an intermediate
circuit voltage of about 130
VDC is reached.
• Check power supply. Config-
urable
32-5 Brake chopper
overload. Inter-
mediate circuit
could not be dis-
charged.
The extent of utilisation of
the brake chopper when
quick discharge began was
already in the range above
100%. Quick discharge took
the brake chopper to the
maximum load limit and was
prevented/aborted.
No actions required Config-
urable
32-6 Intermediate cir-
cuit discharge
time exceeded
Intermediate circuit could not
be quickly discharged. The in-
ternal braking resistor may be
faulty or, in the case of opera-
tion with an external resistor,
the resistor is not connected.
• Check interface to the ex-
ternal braking resistor.
• Alternatively, check
whether the jumper for
the internal braking resist-
or is in place.
If the internal resistor has
been activated and the jump-
er has been positioned cor-
rectly, the internal braking
resistor is probably faulty.
On-site repair is not possible.
Config-
urable
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 95
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
32-7 No power supply
for controller en-
able
Controller enable was issued
when the intermediate circuit
was still in its charging phase
after mains voltage was ap-
plied and the mains relay was
not yet activated. The drive
cannot be enabled in this
phase, because the drive is
not yet firmly connected to
the mains (through the mains
relay).
• In the application, check
whether the mains supply
and controller enable sig-
nals were sent corres-
pondingly quickly one
after the other.
Config-
urable
32-8 Power supply fail-
ure during con-
troller enable
Interruptions/failure in the
power supply while the con-
troller enable was activated.
• Check power supply. QStop
32-9 Phase failure Failure of one or more phases
(only in the case of three-
phase supply).
• Check power supply. QStop
33-0 Encoder emula-
tion following er-
ror
The critical frequency for en-
coder emulation was ex-
ceeded (see manual) and the
emulated angle at [X11] was
no longer able to follow. Can
occur when very high num-
bers of lines are programmed
for [X11] and the drive
reaches high speeds.
• Check whether the para-
metrised number of lines
may be too high for the
speed being represented.
• Reduce the number of
lines if necessary.
Config-
urable
B Diagnostic messages
96 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
34-0 No synchronisa-
tion via fieldbus
When activating the interpol-
ated position mode, the con-
troller could not be synchron-
ised to the fieldbus.
– The synchronisation mes-
sages from the master
may have failed or
– the IPO interval is not cor-
rectly set to the synchron-
isation interval of the
fieldbus.
• Check the settings for the
controller cycle times.
Config-
urable
34-1 Fieldbus syn-
chronisation error
– Synchronisation via field-
bus messages during on-
going operation (interpol-
ated position mode) has
failed.
– Synchronisation mes-
sages from the master
failed?
– Synchronisation interval
(IPO interval) paramet-
rised too small/too large?
• Check the settings for the
controller cycle times.
Config-
urable
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 97
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
35-0 Linear motor
spinning protec-
tion
Encoder signals are corrupt.
The motor may be racing
(“spinning”) because the
commutation position has
been shifted by the faulty en-
coder signals.
• Check installation for EMC
recommendations.
• In the case of linear mo-
tors with inductive/optic-
al encoders with separ-
ately mounted measuring
tape and measuring head:
check the mechanical
clearance.
• In the case of linear mo-
tors with inductive en-
coders, make sure that
the magnetic field of the
magnets or the motor
winding does not leak into
the measuring head (this
effect usually occurs
when high accelerations
= high motor current).
Config-
urable
B Diagnostic messages
98 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
35-5 Error during the
determination of
the commutation
position
The rotor position could not
be identified clearly.
– The selected method may
be inappropriate.
– The selected motor cur-
rent for the identification
may not be set appropri-
ately.
Check the method for de-
termining the commutation
position. Footnote 7)
Config-
urable
36-0 Parameter was
limited
An attempt was made to
write a value which was out-
side the permissible limits, so
the value was limited.
• Check the user parameter
set.
Config-
urable
36-1 Parameter was
not accepted
An attempt was made to
write to an object which is
“read only” or is not write-
capable in the current status
(e.g. with controller enable
active).
• Check the user parameter
set.
Config-
urable
40-0 Negative soft-
ware limit switch
The position setpoint has
reached or exceeded the re-
spective software limit
switch.
• Check target data.
• Check positioning range.
Config-
urable
40-1 Positive software
limit switch
reached
The position setpoint has
reached or exceeded the pos-
itive software limit switch.
• Check target data.
• Check positioning range.
Config-
urable
7) Instructions for determining the commutation position:
a) The alignment procedure is inappropriate for locked or sluggish drives or drives that can oscillate at low frequencies.
b) The micro-step procedure is appropriate for non-ferrous and iron-core motors. As only very small movements are carried out,
it works even when the drive is on elastic stops or is locked but can still be moved elastically to some extent. Due to the high
excitation frequency, however, the method is very susceptible to oscillations in the case of poorly damped drives. In this case,
you can attempt to reduce the excitation current (%).
c) The saturation procedure uses local saturation appearances in the iron of the motor. Recommended for locked drives. Non-fer-
rous drives are basically inappropriate for this method. If the (iron-core) drive moves too much when locating the commutation
position, the measurement result may be adulterated. If this is the case, reduce the excitation current. In the opposite case, if
the drive does not move, the excitation current may not be strong enough, causing the saturation to be insufficient.
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 99
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
40-2 Target position
behind the negat-
ive software limit
switch
Start of a positioning task
was suppressed because the
target lies behind the negat-
ive software limit switch.
• Check target data.
• Check positioning range.
Config-
urable
40-3 Target position
behind the posit-
ive software limit
switch
The start of a positioning task
was suppressed because the
target lies behind the positive
software limit switch.
• Check target data.
• Check positioning range.
Config-
urable
41-0 Position set for-
warding: syn-
chronisation error
Start of synchronisation
without prior sampling pulse
• Check the parametrisa-
tion of the pre-stop path.
Config-
urable
42-3 Start positioning
rejected: wrong
mode of opera-
tion
Switching of the operating
mode by means of the posi-
tion record was not possible.
• Check parametrisation of
the position records in
question.
Config-
urable
42-4 Start positioning
rejected: homing
required
A normal positioning record
was started, but the drive
needs a valid reference posi-
tion before starting.
• Execute new homing. Config-
urable
42-5 Modulo position-
ing:
Rotation direc-
tion not permit-
ted
– The positioning target
cannot be reached
through the positioning or
edge condition options.
– The calculated direction
of rotation is not permit-
ted for the modulo posi-
tioning in the set mode.
• Check the chosen mode. Config-
urable
42-9 Error when start-
ing the position-
ing task
– Acceleration limit value
exceeded
– Position record blocked.
• Check parametrisation
and sequence control,
correct if necessary.
Config-
urable
42-0 Positioning: no
follow-up posi-
tioning: stop
The positioning target cannot
be reached through the posi-
tioning or edge condition op-
tions.
• Check parametrisation of
the position records in
question.
Config-
urable
B Diagnostic messages
100 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
42-1 Positioning: re-
versing not al-
lowed: stop
The positioning target cannot
be reached through the posi-
tioning or edge condition op-
tions.
• Check parametrisation of
the position records in
question.
Config-
urable
42-2 Positioning: re-
versing after halt
not allowed
The positioning target cannot
be reached through the posi-
tioning or edge condition op-
tions.
• Check parametrisation of
the position records in
question.
Config-
urable
43-0 Limit switch: neg-
ative setpoint
value blocked
Negative hardware limit
switch reached.
• Check parametrisation,
wiring and limit switches.
Config-
urable
43-1 Limit switch: pos-
itive setpoint
value blocked
Positive hardware limit
switch reached.
• Check parametrisation,
wiring and limit switches.
Config-
urable
43-2 Limit switch: pos-
itioning sup-
pressed
– The drive has exited the
intended range of motion.
– Technical defect in the
system?
• Check the intended range
of motion.
Config-
urable
44-0 Error in the cam
disc tables
Cam disc to be started not
available.
• Check transferred cam
disc no.
• Correct parametrisation.
• Correct programming.
Config-
urable
44-1 Cam disc: general
error homing
– Start of a cam disc, but
the drive is not yet refer-
enced.
– Start of homing with act-
ive cam disc.
• Execute homing. Config-
urable
• Deactivate cam disc. Then
restart cam disc if neces-
sary.
47-0 Error in setting-
up: timeout ex-
pired
The speed did not drop below
that required for setting-up
on time.
Check processing of the re-
quest on the control side.
Config-
urable
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 101
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
48-0 Homing required An attempt is being made to
switch in the “speed control”
or “torque control” operating
mode or to issue controller
enable in these operating
modes, although the drive re-
quires a valid reference posi-
tion for this.
• Execute homing. QStop
50-0 Too many syn-
chronous PDOs
More PDOs have been activ-
ated than can be processed
in the underlying SYNC inter-
val.
This message also appears if
only one PDO is to be trans-
mitted synchronously, but a
high number of other PDOs
with a different transmission
type have been activated.
• Check the activation of
PDOs.
If the configuration is appro-
priate, the warning can be
suppressed using error man-
agement.
• Extend the synchronisa-
tion interval.
Config-
urable
50-1 SDO errors have
occurred
An SDO transfer has caused
an SDO abort.
– The data exceed the
range of values
– Access to non-existent
object.
• Check the command sent. Config-
urable
51-0 No / unknown
safety module
(Error cannot be
acknowledged)
– No safety module detec-
ted or unknownmodule
type.
• Install safety or switch
module appropriate for
the firmware and hard-
ware.
• Load firmware appropri-
ate for the safety or micro
switch module, see type
designation on the mod-
ule.
PS off
– Internal voltage error of
the safety module or mi-
cro switch module.
• Module presumably de-
fective. If possible, re-
place with another mod-
ule.
B Diagnostic messages
102 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
51-2 Safety module:
unequal module
type
(Error cannot be
acknowledged)
Type or revision of the mod-
ule does not fit the project
engineering.
• With module replace-
ment: module type not yet
designed. Take over cur-
rently installed safety or
micro switch module as
accepted.
PS off
51-3 Safety module:
unequal module
version
(Error cannot be
acknowledged)
Type or revision of the mod-
ule is not supported.
• Install safety or switch
module appropriate for
the firmware and hard-
ware.
• Load firmware appropri-
ate for the module, see
type designation on the
module.
PS off
52-1 Safety module:
discrepancy time
expired
– Control ports STO-A and
STO-B are not actuated
simultaneously.
• Check discrepancy time. PS off
– Control ports STO-A and
STO-B are not wired in the
same way.
• Check discrepancy time.
52-2 Safety module:
driver supply fail-
ure with active
pulse-width mod-
ulation control
This error message does not
occur with equipment de-
livered from the factory. It can
occur with use of a customer-
specific CMMP-AS-...-M3
device firmware.
• The safe status was re-
quested with approved
power end stage. Check
inclusion in the safety-ori-
ented interface.
PS off
62-0 EtherCAT:
General bus error
No EtherCAT bus present. • Switch on the EtherCAT
master.
• Check wiring.
Config-
urable
62-1 EtherCAT:
Initialisation error
Error in the hardware. • Replace the interface and
send it to the manufac-
turer for checking.
Config-
urable
62-2 EtherCAT:
CAN: Protocol er-
ror
CAN over EtherCAT is not in
use.
• Incorrect protocol.
• EtherCAT bus cabling mal-
functioning.
Config-
urable
62-3 EtherCAT:
Invalid RPDO
length
Sync manager 2 buffer size is
too large.
• Check the RPDO configur-
ation of the motor con-
troller and the controller.
Config-
urable
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 103
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
62-4 EtherCAT:
Invalid TPDO
length
Sync manager 3 buffer size is
too large.
• Check the TPDO configur-
ation of the motor con-
troller and the controller.
Config-
urable
62-5 EtherCAT:
Cyclic data trans-
mission defective
Emergency shut-down due to
failure of cyclic data trans-
mission.
• Check the configuration of
the master. Synchronous
transmission is unstable.
Config-
urable
63-0 EtherCAT:
Defective module
Error in the hardware. • Replace the interface and
send it to the manufac-
turer for checking.
Config-
urable
63-1 EtherCAT:
Invalid data
Faulty telegram type. • Check wiring. Config-
urable
63-2 EtherCAT:
TPDO data were
not read
The buffer for sending the
data is full
The data were sent faster
than the motor controller
could process it.
• Reduce the cycle time on
the EtherCAT bus.
Config-
urable
63-3 EtherCAT:
No distributed
clocks active
Warning: firmware is syn-
chronising with the telegram,
not with the distributed
clocks system. When the Eth-
erCAT was started, no hard-
ware SYNC (distributed
clocks) was found. The firm-
ware now synchronises with
the EtherCAT frame.
• If necessary, check wheth-
er the master supports
the distributed clocks fea-
ture.
• Otherwise: Ensure that
the EtherCAT frames are
not interrupted by other
frames if the “interpol-
ated position mode” is to
be used.
Config-
urable
63-4 A SYNC message
is missing in the
IPO cycle
Telegrams are not being sent
in the time slot pattern of the
IPO.
• Check the station re-
sponsible for distributed
clocks.
Config-
urable
64-0 DeviceNet:
Duplicate MAC ID
The duplicate MAC-ID check
has found two nodes with the
same MAC-ID.
• Change the MAC-ID of one
of the nodes to a value
which is not already used.
Config-
urable
64-1 DeviceNet:
Bus voltage miss-
ing
The DeviceNet module is not
supplied with 24 V DC.
• In addition to the motor
controller, the DeviceNet
interface must also be
connected to 24 V DC.
Config-
urable
B Diagnostic messages
104 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
64-2 DeviceNet:
Receive buffer
overflow
Too many messages received
within a short period.
• Reduce the scan rate. Config-
urable
64-3 DeviceNet:
Send buffer over-
flow
Not enough free space on the
CAN bus for sending mes-
sages.
• Increase the baud rate
• Reduce the number of
nodes
• Reduce the scan rate.
Config-
urable
64-4 DeviceNet:
IO message not
sent
Error in sending I/O data. Check that the network is
connected correctly and has
no errors.
Config-
urable
64-5 DeviceNet:
Bus Off
The CAN controller is BUS
OFF.
Check that the network is
connected correctly and has
no errors.
Config-
urable
64-6 DeviceNet:
CAN controller re-
ports overrun
The CAN controller has an
overrun.
• Increase the baud rate
• Reduce the number of
nodes
• Reduce the scan rate.
Config-
urable
65-0 DeviceNet activ-
ated, but no mod-
ule
The DeviceNet communica-
tion is activated in the para-
meter set of the motor con-
troller, but no interface is
available.
• Deactivate the DeviceNet
communication
• Connect an interface.
Config-
urable
65-1 IO connection
timeout
Interrupting an I/O connec-
tion
No I/O message received
within the expected time.
Config-
urable
70-1 FHPP:
Mathematical er-
ror
Overrun/underrun or division
by zero during calculation of
cyclic data.
• Check the cyclic data
• Check the factor group.
Config-
urable
70-2 FHPP:
Factor group in-
valid
Calculation of the factor
group leads to invalid values.
Check the factor group. Config-
urable
70-3 FHPP:
Invalid operating
mode change
Changing from the current to
the desired operating mode
is not permitted.
Check your application. It
may be that not every change
is permissible.
Config-
urable
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 105
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
71-1 FHPP:
Invalid receive
telegram
Too little data is being trans-
mitted by the control system
(data length too short).
• Check the data length
parametrised in the con-
trol system for the con-
troller's received telegram
• Check the configured data
length in the FHPP+ Editor
of the FCT.
Config-
urable
71-2 FHPP:
Invalid response
telegram
Too much data is set to be
transmitted from the CMMP-
AS-...-M3 to the control sys-
tem (data length too great)
• Check the data length
parametrised in the con-
trol system for the con-
troller's received telegram
• Check the configured data
length in the FHPP+ Editor
of the FCT.
Config-
urable
80-0 Current regulator
IRQ overflow
The process data could not
be calculated in the set cur-
rent/speed/position interpol-
ator cycle.
Please contact Technical Sup-
port.
PS off
80-1 Speed regulator
IRQ overflow
The process data could not
be calculated in the set cur-
rent/speed/position interpol-
ator cycle.
Please contact Technical Sup-
port.
PS off
80-2 Overflow position
controller IRQ
The process data could not
be calculated in the set cur-
rent/speed/position interpol-
ator cycle.
Please contact Technical Sup-
port.
PS off
80-3 Interpolator IRQ
overflow
The process data could not
be calculated in the set cur-
rent/speed/position interpol-
ator cycle.
Please contact Technical Sup-
port.
PS off
B Diagnostic messages
106 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
81-4 Low-level IRQ
overflow
The process data could not
be calculated in the set cur-
rent/speed/position interpol-
ator cycle.
Please contact Technical Sup-
port.
PS off
81-5 MDC IRQ over-
flow
The process data could not
be calculated in the set cur-
rent/speed/position interpol-
ator cycle.
Please contact Technical Sup-
port.
PS off
82-0 Sequence control IRQ4 overflow (10 ms low-
level IRQ).
Internal process control: pro-
cess was interrupted.
For information only - no ac-
tion required.
Config-
urable
82-1 Multiply started
CO write access
Parameters in the cyclical and
acyclical mode are used con-
currently
Only one parametrisation in-
terface can be used (USB or
Ethernet)
Config-
urable
83-0 Invalid option
module
– The plugged-in interface
could not be detected
– The loaded firmware is
not known.
– A supported interface
might be plugged into the
wrong slot (e.g. SERCOS
2, EtherCAT).
• Check firmware whether
interface is supported. If
yes,
• Check that the interface is
in the right place and is
plugged in correctly.
• Replace interface and/or
firmware.
Config-
urable
83-1 Option module
not supported
The plugged-in interface
could be detected but is not
supported by the loaded
firmware.
• Check firmware whether
interface is supported.
• If necessary, replace the
firmware.
Config-
urable
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 107
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
83-2 Option module:
hardware revision
not supported
The plugged-in interface
could be detected and is ba-
sically also supported.
However, in this case the cur-
rent hardware version is not
supported (because it is too
old).
Example is the PROFIBUS in-
terface and the EA88 inter-
face, which was produced in
a first 5V version (Version
1.0), but cannot run on the
current motor controller.
The interface must be re-
placed. If necessary, contact
Technical Support. In the
case of PROFIBUS or EA88 in-
terface, hardware version 2.0
or higher.
Config-
urable
84-0 Conditions for
controller enable
not fulfilled
One or more conditions for
controller enable are not ful-
filled. These include:
– DIN4 (output stage en-
able) is off
– DIN5 (controller enable) is
off
– Intermediate circuit not
yet loaded
– Encoder is not yet ready
for operation
– Angle encoder identifica-
tion is still active
– Automatic current regu-
lator identification is still
active
– Encoder data are invalid
– Status change of the
safety function not yet
completed
– Firmware or DCO down-
load via Ethernet (TFTP)
active
– DCO download onto
memory card still active
– Firmware download via
Ethernet active
• Check status of digital in-
puts
• Check encoder cables
• Automatic identification
• Wait for completion of the
firmware or DCO down-
loads
Warn
B Diagnostic messages
108 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
90-0 Missing hardware
components
(SRAM)
External SRAM not detected /
not sufficient.
Hardware error (SRAM com-
ponent or board is defective).
PS off
90-2 Error at FPGA
boot-up
The FPGA cannot be booted.
The FPGA is booted serially
when the device is started,
but in this case it could not
be loaded with data or it re-
ported a checksum error.
Switch on the device again
(24V). If the error occurs re-
peatedly, the hardware is
faulty.
PS off
90-3 Error at SD-ADU
start
SD-ADUs cannot be started.
One or more SD-ADUs are not
supplying any serial data.
Switch on the device again
(24V). If the error occurs re-
peatedly, the hardware is
faulty.
PS off
90-4 SD-ADU syn-
chronisation error
after start
SD-ADU not synchronous
after starting. During opera-
tion, the SD-ADUs for the re-
solver signals continue run-
ning with strict synchronisa-
tion once they have been ini-
tially started synchronously.
The SD-ADUs could not be
started at the same time dur-
ing that initial start phase.
Switch on the device again
(24V). If the error occurs re-
peatedly, the hardware is
faulty.
PS off
90-5 SD-ADU not syn-
chronous
SD-ADU not synchronous
after starting. During opera-
tion, the SD-ADUs for the re-
solver signal continue run-
ning with strict synchronisa-
tion once they have been ini-
tially started synchronously.
This is checked continually
during operation and an error
may be triggered.
Severe EMC interference
could theoretically also cause
this effect. Switch on the
device again (24V). If the er-
ror appears again, the hard-
ware is faulty (almost cer-
tainly one of the three SD-
ADUs).
PS off
90-6 IRQ0 (current
controller): trig-
ger error
The output stage does not
trigger the software IRQ,
which then operates the cur-
rent regulator. Very likely to
be a hardware error on the
board or in the processor.
Switch on the device again
(24V). If the error occurs re-
peatedly, the hardware is
faulty.
PS off
B Diagnostic messages
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 109
Diagnostic messages of the CMMP-AS-...-M3
No. ReactionActionsCausesMessage
90-9 DEBUG firmware
loaded
A development version com-
piled for the debugger was
loaded as normal.
Check the firmware version,
and update the firmware if
necessary.
PS off
91-0 Internal initialisa-
tion error
Internal SRAM too small for
the compiled firmware. Can
only occur with development
versions.
Check the firmware version,
and update the firmware if
necessary.
PS off
91-1 Memory error
when copying
Firmware parts were not
copied correctly from the ex-
ternal FLASH into the internal
RAM.
Switch on the device again
(24V). If the error occurs re-
peatedly, check the firmware
version and update the firm-
ware if necessary.
PS off
91-2 Error when read-
ing the control-
ler/power section
coding
The ID-EEPROM in the con-
troller or power section could
either not be addressed at all
or does not have consistent
data.
Switch on the device again
(24V). If the error occurs re-
peatedly, the hardware is
faulty. No repair possible.
PS off
91-3 Software initial-
isation error
One of the following compon-
ents is missing or could not
be initialised:
a) Shared memory not avail-
able or defective
b) Driver library not available
or defective
Check firmware version, up-
date if necessary
PS off
Tab. B.2 Diagnostic messages CMMP-AS-...-M3
B Diagnostic messages
110 Festo – GDCP-CMMP-M3-HW-EN – 1203NH
Instructions on actions with the error messages 08-2 … 08-7
Action Instructions
• Check
whether
encoder
signals are
faulty.
– Check the wiring, e.g. are one or more phases of the track signals interrupted or
short-circuited?
– Check that installation complies with EMC recommendations (cable screening on
both sides?).
– Only with incremental encoders:
With TTL single-ended signals (HALL signals are always TTL single-ended sig-
nals): Check whether there might be an excessive voltage drop on the GND line;
in this case = signal reference.
Check whether there might be an excessive voltage drop on the GND line; in this
case = signal reference.
– Check the level of supply voltage on the encoder. Sufficient? If not, change the
cable diameter (connect unused lines in parallel) or use voltage feedback
(SENSE+ and SENSE-).
• Test with
other en-
coders.
– If the error still occurs when the configuration is correct, test with a different
(error-free) encoder (replace the connecting cable as well). If the error still oc-
curs, there is a defect in the motor controller. Repair by the manufacturer is ne-
cessary.
Tab. B.3 Instructions on error messages 08-2 … 08-7
CMMP-AS-...-M3
Festo – GDCP-CMMP-M3-HW-EN – 1203NH 111
Index
C
CAN bus [X4] 64. . . . . . . . . . . . . . . . . . . . . . . . . . .
Check operating status 48. . . . . . . . . . . . . . . . . .
Clearance 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Commissioning 45. . . . . . . . . . . . . . . . . . . . . . . . .
Communication interfaces 61. . . . . . . . . . . . . . . .
Connect the PC 48. . . . . . . . . . . . . . . . . . . . . . . . .
Connect the power supply 48. . . . . . . . . . . . . . . .
Connection: CAN bus [X4] 34. . . . . . . . . . . . . . . .
Connection: encoder [X2B] 31. . . . . . . . . . . . . . .
Connection: I/O communication [X1] 28. . . . . . . .
Connection: incremental encoder input [X10] 40.
Connection: incremental encoder output [X11] 41
Connection: motor [X6] 35. . . . . . . . . . . . . . . . . .
Connection: resolver [X2A] 30. . . . . . . . . . . . . . . .
Connection: voltage supply [X9] 37. . . . . . . . . . .
Connector pin assignments 24. . . . . . . . . . . . . . .
D
Device view 13. . . . . . . . . . . . . . . . . . . . . . . . . . .
E
Electrical installation 24. . . . . . . . . . . . . . . . . . . .
Emitted interference 42. . . . . . . . . . . . . . . . . . . .
Encoder connection [X2B] 63. . . . . . . . . . . . . . . .
Entire CMMP-AS system 11. . . . . . . . . . . . . . . . . .
ESD protection 44. . . . . . . . . . . . . . . . . . . . . . . . .
G
General information on EMC 42. . . . . . . . . . . . . .
I
I/O interface [X1] 61. . . . . . . . . . . . . . . . . . . . . . .
Installation clearance 23. . . . . . . . . . . . . . . . . . . .
Installation clearances 18. . . . . . . . . . . . . . . . . . .
Instructions, General 8. . . . . . . . . . . . . . . . . . . . .
Instructions on safe and EMC-compliant installa-
tion 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Intended use 9. . . . . . . . . . . . . . . . . . . . . . . . . . .
Intermediate circuit coupling 39. . . . . . . . . . . . . .
M
Mechanical installation 18. . . . . . . . . . . . . . . . . .
O
Operation and display components 52. . . . . . . . .
Overload current and short-circuit monitoring 50
P
PFC 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Product identification 6. . . . . . . . . . . . . . . . . . . .
R
Rating plate 6. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resistance to interference 42. . . . . . . . . . . . . . . .
Resolver connection [X2A] 62. . . . . . . . . . . . . . . .
S
Service functions and diagnostic messages 50. .
T
Technical data 55. . . . . . . . . . . . . . . . . . . . . . . . .
Reproduction, distribution or sale of this document or communica-tion of its contents to others without express authorization isprohibited. Offenders will be liable for damages. All rights re-served in the event that a patent, utility model or design patent isregistered.
Copyright:Festo AG & Co. KGPostfachD-73726 Esslingen
Phone:+49 711 347 0
Fax:+49 711 347 2144
e-mail:[email protected]
Internet:www.festo.com
Original: deVersion: 1203NH